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Bring back RC throttle override with a parameter to disable it

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This commit is contained in:
Julian Kent 2020-11-19 11:10:10 +01:00 committed by Matthias Grob
parent b7ff54b034
commit cdadfabccc
3 changed files with 13 additions and 8 deletions
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10
src/modules/commander/Commander.cpp
View File

@ -2107,10 +2107,14 @@ Commander::run()
if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) {
const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
if (!_status.rc_signal_lost &&
((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) {
const bool rpy_deflected = (fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection)
|| (fabsf(_manual_control_setpoint.r) > minimum_stick_deflection);
const bool throttle_deflected = fabsf(_manual_control_setpoint.z - 0.5f) * 2.f > minimum_stick_deflection;
const bool use_throttle = !(_param_rc_override.get() & OVERRIDE_IGNORE_THROTTLE_BIT);
if (!_status.rc_signal_lost &&
(rpy_deflected || (use_throttle && throttle_deflected))) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) {
tune_positive(true);

4
src/modules/commander/Commander.hpp
View File

@ -287,9 +287,9 @@ private:
};
enum OverrideMode {
OVERRIDE_DISABLED = 0,
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1)
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};
/* Decouple update interval and hysteresis counters, all depends on intervals */

7
src/modules/commander/commander_params.c
View File

@ -638,9 +638,10 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
* Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
*
* @min 0
* @max 3
* @max 7
* @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);
@ -648,8 +649,8 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
/**
* RC stick override threshold
*
* If COM_RC_OVERRIDE is enabled and the joystick input controlling the horizontally axis (right stick for RC in mode 2)
* is moved more than this threshold from the center the autopilot switches to position mode and the pilot takes over control.
* If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold from the center
* the autopilot switches to position mode and the pilot takes over control.
*
* @group Commander
* @unit %