Commander: split out rc override logic into ManualControl

2026-07-02 12:50:35 +08:00 · 2021-02-16 08:18:30 +01:00
parent a4da15edf5
commit dda895c94b
5 changed files with 163 additions and 37 deletions
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ManualControl.hpp"
+
+enum OverrideBits {
+	OVERRIDE_AUTO_MODE_BIT = (1 << 0),
+	OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
+	OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
+};
+
+void ManualControl::update()
+{
+	if (_manual_control_setpoint_sub.updated()) {
+		manual_control_setpoint_s manual_control_setpoint;
+
+		if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
+			process(manual_control_setpoint);
+		}
+	}
+}
+
+void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
+{
+	_last_manual_control_setpoint = _manual_control_setpoint;
+	_manual_control_setpoint = manual_control_setpoint;
+}
+
+bool ManualControl::wantsOverride(const int param_rc_override, const float param_com_rc_stick_ov,
+				  const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
+{
+	const bool override_auto_mode = (param_rc_override & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
+					&& vehicle_control_mode.flag_control_auto_enabled;
+
+	const bool override_offboard_mode = (param_rc_override & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
+					    && vehicle_control_mode.flag_control_offboard_enabled;
+
+	if (rc_available && (override_auto_mode || override_offboard_mode)) {
+		const float minimum_stick_change = .01f * param_com_rc_stick_ov;
+
+		const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
+				       || (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
+				       || (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
+		const bool throttle_moved =
+			(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
+		const bool use_throttle = !(param_rc_override & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
+
+		if (rpy_moved || (use_throttle && throttle_moved)) {
+			return true;
+		}
+	}
+
+	return false;
+}