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manual_control: support arming button

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The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
This commit is contained in:
Julian Oes
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 9cbfa2ca95
commit bd0c1014d9
5 changed files with 62 additions and 21 deletions
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src/modules/manual_control/ManualControl.hpp
+8 -1
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@@ -105,6 +105,12 @@ 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,
@@ -115,7 +121,7 @@ private:
void evaluate_mode_slot(uint8_t mode_slot);
void send_mode_command(int32_t commander_main_state);
void send_arm_command(bool should_arm, ArmingOrigin origin);
void send_arm_command(ArmingAction action, ArmingOrigin origin);
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();
@@ -162,6 +168,7 @@ private:
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,