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commander: remove compile time dependencies on non-commander parameters

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- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
This commit is contained in:
Daniel Agar
2022-05-11 10:14:23 -04:00
committed by GitHub
parent 8d36ba6727
commit c772e5230f
4 changed files with 182 additions and 140 deletions
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src/modules/manual_control/ManualControl.cpp
+63 -3
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@@ -32,6 +32,9 @@
****************************************************************************/
#include "ManualControl.hpp"
#include <px4_platform_common/events.h>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_command.h>
@@ -64,6 +67,16 @@ void ManualControl::Run()
perf_begin(_loop_perf);
perf_count(_loop_interval_perf);
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_system_id = vehicle_status.system_id;
_rotary_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
_vtol = vehicle_status.is_vtol;
}
}
// Check if parameters have changed
if (_parameter_update_sub.updated()) {
// clear update
@@ -78,6 +91,53 @@ void ManualControl::Run()
_selector.setRcInMode(_param_com_rc_in_mode.get());
_selector.setTimeout(_param_com_rc_loss_t.get() * 1_s);
// MAN_ARM_GESTURE
if (_param_man_arm_gesture.get() == 1) {
// RC_MAP_ARM_SW & MAN_ARM_GESTURE: disable arm gesture if an arm switch is configured
param_t param_rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
if (param_rc_map_arm_sw != PARAM_INVALID) {
int32_t rc_map_arm_sw = 0;
param_get(param_rc_map_arm_sw, &rc_map_arm_sw);
if (rc_map_arm_sw > 0) {
_param_man_arm_gesture.set(0); // disable arm gesture
_param_man_arm_gesture.commit();
orb_advert_t mavlink_log_pub = nullptr;
mavlink_log_critical(&mavlink_log_pub, "Arm stick gesture disabled if arm switch in use\t")
/* EVENT
* @description <param>MAN_ARM_GESTURE</param> is now set to disable arm/disarm stick gesture.
*/
events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled},
"Arm stick gesture disabled if arm switch in use");
}
}
// MC_AIRMODE & MAN_ARM_GESTURE: check for unsafe Airmode settings: yaw airmode requires disabling the stick arm gesture
if ((_param_man_arm_gesture.get() == 1) && (_rotary_wing || _vtol)) {
param_t param_mc_airmode = param_find("MC_AIRMODE");
if (param_mc_airmode != PARAM_INVALID) {
int32_t airmode = 0;
param_get(param_mc_airmode, &airmode);
if (airmode == 2) {
airmode = 1; // change to roll/pitch airmode
param_set(param_mc_airmode, &airmode);
orb_advert_t mavlink_log_pub = nullptr;
mavlink_log_critical(&mavlink_log_pub, "Yaw Airmode requires disabling the stick arm gesture\t")
/* EVENT
* @description <param>MC_AIRMODE</param> is now set to roll/pitch airmode.
*/
events::send(events::ID("commander_airmode_requires_no_arm_gesture"), {events::Log::Error, events::LogInternal::Disabled},
"Yaw Airmode requires disabling the stick arm gesture");
}
}
}
}
}
const hrt_abstime now = hrt_absolute_time();
@@ -361,7 +421,7 @@ void ManualControl::send_camera_mode_command(CameraMode camera_mode)
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE;
command.param2 = static_cast<float>(camera_mode);
command.target_system = _param_mav_sys_id.get();
command.target_system = _system_id;
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
@@ -375,7 +435,7 @@ void ManualControl::send_photo_command()
command.command = vehicle_command_s::VEHICLE_CMD_IMAGE_START_CAPTURE;
command.param3 = 1; // one picture
command.param4 = _image_sequence++;
command.target_system = _param_mav_sys_id.get();
command.target_system = _system_id;
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
@@ -395,7 +455,7 @@ void ManualControl::send_video_command()
command.command = vehicle_command_s::VEHICLE_CMD_VIDEO_START_CAPTURE;
}
command.target_system = _param_mav_sys_id.get();
command.target_system = _system_id;
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};