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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
2021-11-09 16:05:25 +01:00
committed by Matthias Grob
parent 1c15cc11d8
commit cda6524421
5 changed files with 27 additions and 41 deletions
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src/modules/manual_control/ManualControl.hpp
+5 -8
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@@ -76,13 +76,6 @@ public:
private:
static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
enum OverrideBits {
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
void Run() override;
void send_arm_command();
@@ -108,13 +101,17 @@ private:
bool _previous_arm_gesture{false};
bool _previous_disarm_gesture{false};
float _previous_x{NAN};
float _previous_y{NAN};
float _previous_z{NAN};
float _previous_r{NAN};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
DEFINE_PARAMETERS(
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst
)