From e4d25df58a3a55e2f7b95b630c54f433a59a2ee7 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 5 Sep 2024 15:21:03 +0200 Subject: [PATCH] Consistently use "stick gesture" for "rc stick gesture" --- msg/ActionRequest.msg | 2 +- msg/VehicleStatus.msg | 2 +- src/lib/events/enums.json | 4 ++-- src/modules/commander/Commander.cpp | 14 +++++++------- src/modules/manual_control/ManualControl.cpp | 8 ++++---- 5 files changed, 15 insertions(+), 15 deletions(-) diff --git a/msg/ActionRequest.msg b/msg/ActionRequest.msg index 4493708a86..c8a79c69b9 100644 --- a/msg/ActionRequest.msg +++ b/msg/ActionRequest.msg @@ -11,7 +11,7 @@ uint8 ACTION_VTOL_TRANSITION_TO_MULTICOPTER = 6 uint8 ACTION_VTOL_TRANSITION_TO_FIXEDWING = 7 uint8 source # how the request was triggered -uint8 SOURCE_MANUAL_CONTROL_GESTURE = 0 +uint8 SOURCE_STICK_GESTURE = 0 uint8 SOURCE_RC_SWITCH = 1 uint8 SOURCE_RC_BUTTON = 2 uint8 SOURCE_RC_MODE_SLOT = 3 diff --git a/msg/VehicleStatus.msg b/msg/VehicleStatus.msg index 4c711b9763..6756da8129 100644 --- a/msg/VehicleStatus.msg +++ b/msg/VehicleStatus.msg @@ -12,7 +12,7 @@ uint8 ARMING_STATE_ARMED = 2 uint8 latest_arming_reason uint8 latest_disarming_reason uint8 ARM_DISARM_REASON_TRANSITION_TO_STANDBY = 0 -uint8 ARM_DISARM_REASON_RC_STICK = 1 +uint8 ARM_DISARM_REASON_STICK_GESTURE = 1 uint8 ARM_DISARM_REASON_RC_SWITCH = 2 uint8 ARM_DISARM_REASON_COMMAND_INTERNAL = 3 uint8 ARM_DISARM_REASON_COMMAND_EXTERNAL = 4 diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index 29a44bed4f..dece82e5bb 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -447,12 +447,12 @@ "description": "Transition to standby" }, "1": { - "name": "rc_stick", + "name": "stick_gesture", "description": "Stick gesture" }, "2": { "name": "rc_switch", - "description": "RC (switch)" + "description": "RC switch" }, "3": { "name": "command_internal", diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index 5a23b02f1f..eed543fe2d 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -503,9 +503,9 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r switch (calling_reason) { case arm_disarm_reason_t::transition_to_standby: return ""; - case arm_disarm_reason_t::rc_stick: return "Stick gesture"; + case arm_disarm_reason_t::stick_gesture: return "Stick gesture"; - case arm_disarm_reason_t::rc_switch: return "RC (switch)"; + case arm_disarm_reason_t::rc_switch: return "RC switch"; case arm_disarm_reason_t::command_internal: return "internal command"; @@ -583,7 +583,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ return TRANSITION_DENIED; } - } else if (calling_reason == arm_disarm_reason_t::rc_stick + } else if (calling_reason == arm_disarm_reason_t::stick_gesture || calling_reason == arm_disarm_reason_t::rc_switch || calling_reason == arm_disarm_reason_t::rc_button) { @@ -634,12 +634,12 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f const bool mc_manual_thrust_mode = _vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && _vehicle_control_mode.flag_control_manual_enabled && !_vehicle_control_mode.flag_control_climb_rate_enabled; - const bool commanded_by_rc = (calling_reason == arm_disarm_reason_t::rc_stick) + const bool commanded_by_rc = (calling_reason == arm_disarm_reason_t::stick_gesture) || (calling_reason == arm_disarm_reason_t::rc_switch) || (calling_reason == arm_disarm_reason_t::rc_button); if (!landed && !(mc_manual_thrust_mode && commanded_by_rc && _param_com_disarm_man.get())) { - if (calling_reason != arm_disarm_reason_t::rc_stick) { + if (calling_reason != arm_disarm_reason_t::stick_gesture) { mavlink_log_critical(&_mavlink_log_pub, "Disarming denied: not landed\t"); events::send(events::ID("commander_disarm_denied_not_landed"), {events::Log::Critical, events::LogInternal::Info}, @@ -1629,7 +1629,7 @@ void Commander::executeActionRequest(const action_request_s &action_request) // Silently ignore RC actions during RC calibration if (_vehicle_status.rc_calibration_in_progress - && (action_request.source == action_request_s::SOURCE_MANUAL_CONTROL_GESTURE + && (action_request.source == action_request_s::SOURCE_STICK_GESTURE || action_request.source == action_request_s::SOURCE_RC_SWITCH || action_request.source == action_request_s::SOURCE_RC_BUTTON || action_request.source == action_request_s::SOURCE_RC_MODE_SLOT)) { @@ -1637,7 +1637,7 @@ void Commander::executeActionRequest(const action_request_s &action_request) } switch (action_request.source) { - case action_request_s::SOURCE_MANUAL_CONTROL_GESTURE: arm_disarm_reason = arm_disarm_reason_t::rc_stick; break; + case action_request_s::SOURCE_STICK_GESTURE: arm_disarm_reason = arm_disarm_reason_t::stick_gesture; break; case action_request_s::SOURCE_RC_SWITCH: arm_disarm_reason = arm_disarm_reason_t::rc_switch; break; diff --git a/src/modules/manual_control/ManualControl.cpp b/src/modules/manual_control/ManualControl.cpp index ecc932fd5c..53383fbb4a 100644 --- a/src/modules/manual_control/ManualControl.cpp +++ b/src/modules/manual_control/ManualControl.cpp @@ -316,7 +316,7 @@ void ManualControl::updateParams() /* EVENT * @description MAN_ARM_GESTURE is now set to disable arm/disarm stick gesture. */ - events::send(events::ID("rc_update_arm_stick_gesture_disabled_with_switch"), {events::Log::Info, events::LogInternal::Disabled}, + events::send(events::ID("stick_gesture_disabled_by_arm_switch"), {events::Log::Info, events::LogInternal::Disabled}, "Arm stick gesture disabled if arm switch in use"); } } @@ -356,7 +356,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input) _stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp); if (_param_man_arm_gesture.get() && !previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) { - sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_MANUAL_CONTROL_GESTURE); + sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_STICK_GESTURE); } // Disarm gesture @@ -366,7 +366,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input) _stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp); if (_param_man_arm_gesture.get() && !previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) { - sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_MANUAL_CONTROL_GESTURE); + sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_STICK_GESTURE); } // Kill gesture @@ -377,7 +377,7 @@ void ManualControl::processStickArming(const manual_control_setpoint_s &input) _stick_kill_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_lower_right, input.timestamp); if (!previous_stick_kill_hysteresis && _stick_kill_hysteresis.get_state()) { - sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_MANUAL_CONTROL_GESTURE); + sendActionRequest(action_request_s::ACTION_KILL, action_request_s::SOURCE_STICK_GESTURE); } } }