sensors split rc_update into new standalone module

src/modules/rc_update/rc_update.h

@@ -0,0 +1,160 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/**
+ * @file rc_update.h
+ *
+ * @author Beat Kueng <beat-kueng@gmx.net>
+ */
+
+#include "parameters.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
+#include <drivers/drv_hrt.h>
+#include <lib/mathlib/mathlib.h>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/perf/perf_counter.h>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/actuator_controls.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/rc_channels.h>
+#include <uORB/topics/rc_parameter_map.h>
+#include <uORB/topics/parameter_update.h>
+
+namespace RCUpdate
+{
+
+/**
+ ** class RCUpdate
+ *
+ * Handling of RC updates
+ */
+class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
+{
+public:
+	RCUpdate();
+	~RCUpdate() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	void Run() override;
+	bool init();
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:
+
+	/**
+	 * Check for changes in rc_parameter_map
+	 */
+	void		rc_parameter_map_poll(bool forced = false);
+
+	/**
+	 * update the RC functions. Call this when the parameters change.
+	 */
+	void		update_rc_functions();
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	void		parameters_updated();
+
+	/**
+	 * Get and limit value for specified RC function. Returns NAN if not mapped.
+	 */
+	float		get_rc_value(uint8_t func, float min_value, float max_value);
+
+	/**
+	 * Get switch position for specified function.
+	 */
+	switch_pos_t	get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
+	switch_pos_t	get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
+
+	/**
+	 * Update parameters from RC channels if the functionality is activated and the
+	 * input has changed since the last update
+	 *
+	 * @param
+	 */
+	void		set_params_from_rc();
+
+	perf_counter_t		_loop_perf;			/**< loop performance counter */
+
+	Parameters		_parameters{};			/**< local copies of interesting parameters */
+	ParameterHandles	_parameter_handles{};		/**< handles for interesting parameters */
+
+	uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
+
+	uORB::Subscription	_parameter_update_sub{ORB_ID(parameter_update)};	/**< notification of parameter updates */
+	uORB::Subscription	_rc_parameter_map_sub{ORB_ID(rc_parameter_map)};	/**< rc parameter map subscription */
+
+	uORB::Publication<rc_channels_s>	_rc_pub{ORB_ID(rc_channels)};				/**< raw r/c control topic */
+	uORB::Publication<actuator_controls_s>	_actuator_group_3_pub{ORB_ID(actuator_controls_3)};	/**< manual control as actuator topic */
+
+	uORB::PublicationMulti<manual_control_setpoint_s>	_manual_control_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH};	/**< manual control signal topic */
+
+	rc_channels_s _rc {};			/**< r/c channel data */
+
+	rc_parameter_map_s _rc_parameter_map {};
+	float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {};	/**< parameter values for RC control */
+
+	hrt_abstime _last_rc_to_param_map_time = 0;
+
+	math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
+	math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
+	math::LowPassFilter2p _filter_yaw;
+	math::LowPassFilter2p _filter_throttle;
+
+};
+
+
+
+} /* namespace RCUpdate */