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Refactor mode button changes

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This commit is contained in:
Matthias Grob
2021-09-14 09:52:32 +02:00
parent 05d40f40d4
commit d1f1e02afb
4 changed files with 78 additions and 81 deletions
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src/modules/rc_update/rc_update.cpp
+18 -20
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@@ -103,8 +103,9 @@ RCUpdate::RCUpdate() :
}
rc_parameter_map_poll(true /* forced */);
parameters_updated();
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
}
RCUpdate::~RCUpdate()
@@ -283,31 +284,31 @@ RCUpdate::map_flight_modes_buttons()
{
static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + manual_control_switches_s::MODE_SLOT_NUM <= sizeof(
_rc.function) / sizeof(_rc.function[0]), "Unexpected number of RC functions");
static_assert(rc_channels_s::FUNCTION_FLTBTN_NUM_SLOTS == manual_control_switches_s::MODE_SLOT_NUM,
static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_COUNT == manual_control_switches_s::MODE_SLOT_NUM,
"Unexpected number of Flight Modes slots");
// Reset all the slots to -1
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) {
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index] = -1;
for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = -1;
}
// If the functionality is disabled we can early return, no need to map channels
int buttons_rc_channels = _param_rc_map_flightmode_buttons.get();
// If the functionality is disabled we don't need to map channels
const int flightmode_buttons = _param_rc_map_flightmode_buttons.get();
if (buttons_rc_channels == 0) {
if (flightmode_buttons == 0) {
return;
}
uint8_t slot_counter = 0;
uint8_t slot = 0;
for (uint8_t index = 0; index < RC_MAX_CHAN_COUNT; index++) {
if (buttons_rc_channels & (1 << index)) {
PX4_DEBUG("Slot %d assigned to channel %d", slot_counter + 1, index);
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot_counter] = index;
slot_counter++;
for (uint8_t channel = 0; channel < RC_MAX_CHAN_COUNT; channel++) {
if (flightmode_buttons & (1 << channel)) {
PX4_DEBUG("Slot %d assigned to channel %d", slot + 1, channel);
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = channel;
slot++;
}
if (slot_counter == manual_control_switches_s::MODE_SLOT_NUM) {
if (slot >= manual_control_switches_s::MODE_SLOT_NUM) {
// we have filled all the available slots
break;
}
@@ -468,9 +469,7 @@ void RCUpdate::Run()
/*
* some RC systems glitch after a reboot, we should ignore the first 100ms of regained signal
* as the glitch might be interpreted as a commanded stick action or a flight mode switch
*
*/
_rc_signal_lost_hysteresis.set_hysteresis_time_from(true, 100_ms);
_rc_signal_lost_hysteresis.set_state_and_update(signal_lost, hrt_absolute_time());
@@ -609,15 +608,15 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false;
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) {
for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
// If the slot is not in use (-1), get_rc_value() will return 0
float value = get_rc_value(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index, -1.0, 1.0);
float value = get_rc_value(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot, -1.0, 1.0);
// The range goes from -1 to 1, checking that value is greater than 0.5f
// corresponds to check that the signal is above 75% of the overall range.
if (value > 0.5f) {
const uint8_t current_button_press_slot = index + 1;
const uint8_t current_button_press_slot = slot + 1;
// The same button stays pressed consistently
if (current_button_press_slot == _potential_button_press_slot) {
@@ -629,7 +628,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
}
}
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
if (_button_pressed_hysteresis.get_state()) {