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commander/manual_control: use msg enum for params

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Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent f1b1068824
commit b3a5072de5
4 changed files with 49 additions and 36 deletions
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src/modules/manual_control/ManualControl.cpp
+11 -6
View File
@@ -131,7 +131,8 @@ void ManualControl::Run()
if (_selector.setpoint().arm_gesture && !_previous_arm_gesture) {
_previous_arm_gesture = true;
send_arm_command(ArmingAction::ARM, ArmingOrigin::GESTURE);
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE);
}
@@ -141,7 +142,8 @@ void ManualControl::Run()
if (_selector.setpoint().disarm_gesture && !_previous_disarm_gesture) {
_previous_disarm_gesture = true;
send_arm_command(ArmingAction::DISARM, ArmingOrigin::GESTURE);
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE);
}
@@ -180,16 +182,19 @@ void ManualControl::Run()
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (_button_hysteresis.get_state()) {
send_arm_command(ArmingAction::TOGGLE, ArmingOrigin::BUTTON);
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_BUTTON);
}
} else {
// Arming switch
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_arm_command(ArmingAction::ARM, ArmingOrigin::SWITCH);
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH);
} else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_arm_command(ArmingAction::DISARM, ArmingOrigin::SWITCH);
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH);
}
}
}
@@ -427,7 +432,7 @@ void ManualControl::send_mode_command(int32_t commander_main_state)
command_pub.publish(command);
}
void ManualControl::send_arm_command(ArmingAction action, ArmingOrigin origin)
void ManualControl::send_arm_command(int8_t action, int8_t origin)
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
src/modules/manual_control/ManualControl.hpp
+1 -13
View File
@@ -116,23 +116,11 @@ public:
private:
static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
enum class ArmingAction {
TOGGLE = -1,
DISARM = 0,
ARM = 1,
};
enum class ArmingOrigin {
GESTURE = 1,
SWITCH = 2,
BUTTON = 3,
};
void Run() override;
void evaluate_mode_slot(uint8_t mode_slot);
void send_mode_command(int32_t commander_main_state);
void send_arm_command(ArmingAction action, ArmingOrigin origin);
void send_arm_command(int8_t action, int8_t origin);
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();