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ManualControl: fix arm button logic during testing

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The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
This commit is contained in:
Matthias Grob 2021-10-13 14:48:31 +02:00
parent 0901b73f50
commit cc2ec09659
1 changed files with 11 additions and 10 deletions
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21
src/modules/manual_control/ManualControl.cpp
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@ -170,18 +170,19 @@ void ManualControl::Run()
evaluate_mode_slot(switches.mode_slot);
}
if (switches.arm_switch != _previous_switches.arm_switch) {
if (_param_com_arm_swisbtn.get()) {
// Arming button
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (_param_com_arm_swisbtn.get()) {
// Arming button
const bool previous_button_hysteresis = _button_hysteresis.get_state();
_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(vehicle_command_s::ARMING_ACTION_TOGGLE,
vehicle_command_s::ARMING_ORIGIN_BUTTON);
}
if (!previous_button_hysteresis && _button_hysteresis.get_state()) {
send_arm_command(vehicle_command_s::ARMING_ACTION_TOGGLE,
vehicle_command_s::ARMING_ORIGIN_BUTTON);
}
} else {
// Arming switch
} else {
// Arming switch
if (switches.arm_switch != _previous_switches.arm_switch) {
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_arm_command(vehicle_command_s::ARMING_ACTION_ARM,
vehicle_command_s::ARMING_ORIGIN_SWITCH);