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rc_update: make payload power switch an optional 3-way switch

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to support 3 different power states for the payload.
This commit is contained in:
Matthias Grob
2025-05-06 17:06:05 +02:00
parent 1bccd5557a
commit daa491dc19
6 changed files with 118 additions and 42 deletions
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src/modules/rc_update/rc_update.cpp
+24 -2
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@@ -544,6 +544,28 @@ switch_pos_t RCUpdate::getRCSwitchOnOffPosition(uint8_t function, float threshol
return manual_control_switches_s::SWITCH_POS_NONE;
}
switch_pos_t RCUpdate::getRCSwitch3WayPosition(uint8_t function, float on_threshold, float mid_threshold) const
{
if (_rc.function[function] >= 0) {
const bool on_inverted = (on_threshold < 0.f);
const bool mid_inverted = (mid_threshold < 0.f);
const float value = 0.5f * _rc.channels[_rc.function[function]] + 0.5f;
if (on_inverted ? value < -mid_threshold : value > on_threshold) {
return manual_control_switches_s::SWITCH_POS_ON;
} else if (mid_inverted ? value < -on_threshold : value > mid_threshold) {
return manual_control_switches_s::SWITCH_POS_MIDDLE;
} else {
return manual_control_switches_s::SWITCH_POS_OFF;
}
}
return manual_control_switches_s::SWITCH_POS_NONE;
}
void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
{
manual_control_switches_s switches{};
@@ -619,8 +641,8 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.video_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_AUX_4, 0.5f);
#endif
switches.payload_power_switch = getRCSwitchOnOffPosition(rc_channels_s::FUNCTION_PAYLOAD_POWER,
_param_rc_payload_th.get());
switches.payload_power_switch = getRCSwitch3WayPosition(rc_channels_s::FUNCTION_PAYLOAD_POWER,
_param_rc_payload_th.get(), _param_rc_payload_midth.get());
// last 2 switch updates identical within 1 second (simple protection from bad RC data)
if ((switches == _manual_switches_previous)