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rc_update: introduce support for toggle buttons via RC channels

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli
2021-09-14 09:52:32 +02:00
committed by Matthias Grob
parent ca2d8f6de2
commit c50daae4a3
4 changed files with 132 additions and 3 deletions
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src/modules/rc_update/rc_update.h
+8
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@@ -59,6 +59,7 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>
#include <hysteresis/hysteresis.h>
using namespace time_literals;
@@ -130,6 +131,8 @@ private:
*/
void set_params_from_rc();
void map_flight_modes_buttons();
static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
struct Parameters {
@@ -186,6 +189,10 @@ private:
uint8_t _channel_count_previous{0};
uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
uint8_t _potential_button_press_slot{0};
systemlib::Hysteresis _button_pressed_hysteresis{false};
systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
uint8_t _channel_count_max{0};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
@@ -216,6 +223,7 @@ private:
(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
(ParamInt<px4::params::RC_MAP_STAB_SW>) _param_rc_map_stab_sw,
(ParamInt<px4::params::RC_MAP_MAN_SW>) _param_rc_map_man_sw,
(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,