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Change RC override to affect offboard mode as well

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-Defines COM_RC_OVERRIDE as a bitmask
-Changes RC override to affect auto modes, offboard mode, or both
This commit is contained in:
Tal Zaitsev
2020-01-09 18:26:39 +01:00
committed by Matthias Grob
parent fee7f69d63
commit d54ab5f6eb
3 changed files with 27 additions and 11 deletions
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src/modules/commander/Commander.hpp
+7 -1
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@@ -223,7 +223,7 @@ private:
(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
(ParamBool<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_min_stick_change,
@@ -258,6 +258,12 @@ private:
ALWAYS = 2
};
enum OverrideMode {
OVERRIDE_DISABLED = 0,
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1)
};
/* Decouple update interval and hysteresis counters, all depends on intervals */
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
static constexpr float COMMANDER_MONITORING_LOOPSPERMSEC{1 / (COMMANDER_MONITORING_INTERVAL / 1000.0f)};