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manual_control: move override detection

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This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
This commit is contained in:
Julian Oes
2021-04-15 14:28:52 +02:00
committed by Matthias Grob
parent 1c15cc11d8
commit cda6524421
5 changed files with 27 additions and 41 deletions
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src/modules/commander/ManualControl.cpp
+4 -16
View File
@@ -36,10 +36,9 @@
using namespace time_literals;
enum OverrideBits {
enum class OverrideBits : int32_t {
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
bool ManualControl::update()
@@ -63,10 +62,10 @@ bool ManualControl::update()
bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode,
const vehicle_status_s &vehicle_status)
{
const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
const bool override_auto_mode = (_param_rc_override.get() & static_cast<int32_t>(OverrideBits::OVERRIDE_AUTO_MODE_BIT))
&& vehicle_control_mode.flag_control_auto_enabled;
const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
const bool override_offboard_mode = (_param_rc_override.get() & static_cast<int32_t>(OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT))
&& vehicle_control_mode.flag_control_offboard_enabled;
// in Descend manual override is enbaled independently of COM_RC_OVERRIDE
@@ -74,19 +73,8 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
if (_rc_available && (override_auto_mode || override_offboard_mode || override_landing)) {
const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
const bool throttle_moved =
(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
if (rpy_moved || (use_throttle && throttle_moved)) {
return true;
}
return _manual_control_setpoint.user_override;
}
return false;
src/modules/commander/commander_params.c
+1 -2
View File
@@ -669,10 +669,9 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
* override is always enabled.
*
* @min 0
* @max 7
* @max 3
* @bit 0 Enable override during auto modes (except for in critical battery reaction)
* @bit 1 Enable override during offboard mode
* @bit 2 Ignore throttle stick
* @group Commander
*/
PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);