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Refactor: Name manual_control_setpoint the same way everywhere

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This commit is contained in:
Matthias Grob
2020-06-22 12:06:27 -04:00
committed by Daniel Agar
parent c6dd8bfcd6
commit e9eae1bd76
27 changed files with 276 additions and 263 deletions
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src/modules/mavlink/mavlink_messages.cpp
+15 -14
View File
@@ -3776,11 +3776,12 @@ public:
unsigned get_size() override
{
return _manual_sub.advertised() ? (MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
return _manual_control_setpoint_sub.advertised() ?
(MAVLINK_MSG_ID_MANUAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
uORB::Subscription _manual_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
/* do not allow top copying this class */
MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete;
@@ -3792,24 +3793,24 @@ protected:
bool send(const hrt_abstime t) override
{
manual_control_setpoint_s manual;
manual_control_setpoint_s manual_control_setpoint;
if (_manual_sub.update(&manual)) {
if (_manual_control_setpoint_sub.update(&manual_control_setpoint)) {
mavlink_manual_control_t msg{};
msg.target = mavlink_system.sysid;
msg.x = manual.x * 1000;
msg.y = manual.y * 1000;
msg.z = manual.z * 1000;
msg.r = manual.r * 1000;
msg.x = manual_control_setpoint.x * 1000;
msg.y = manual_control_setpoint.y * 1000;
msg.z = manual_control_setpoint.z * 1000;
msg.r = manual_control_setpoint.r * 1000;
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual.mode_switch << (shift * 0));
msg.buttons |= (manual.return_switch << (shift * 1));
msg.buttons |= (manual.posctl_switch << (shift * 2));
msg.buttons |= (manual.loiter_switch << (shift * 3));
msg.buttons |= (manual.acro_switch << (shift * 4));
msg.buttons |= (manual.offboard_switch << (shift * 5));
msg.buttons |= (manual_control_setpoint.mode_switch << (shift * 0));
msg.buttons |= (manual_control_setpoint.return_switch << (shift * 1));
msg.buttons |= (manual_control_setpoint.posctl_switch << (shift * 2));
msg.buttons |= (manual_control_setpoint.loiter_switch << (shift * 3));
msg.buttons |= (manual_control_setpoint.acro_switch << (shift * 4));
msg.buttons |= (manual_control_setpoint.offboard_switch << (shift * 5));
mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
View File
@@ -2036,7 +2036,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
manual.z = man.z / 1000.0f;
manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();
_manual_pub.publish(manual);
_manual_control_setpoint_pub.publish(manual);
}
}
src/modules/mavlink/mavlink_receiver.h
+1 -1
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@@ -265,7 +265,7 @@ private:
uORB::PublicationMulti<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::PublicationMulti<distance_sensor_s> _flow_distance_sensor_pub{ORB_ID(distance_sensor), ORB_PRIO_LOW};
uORB::PublicationMulti<input_rc_s> _rc_pub{ORB_ID(input_rc), ORB_PRIO_LOW};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_LOW};
uORB::PublicationMulti<ping_s> _ping_pub{ORB_ID(ping), ORB_PRIO_LOW};
uORB::PublicationMulti<radio_status_s> _radio_status_pub{ORB_ID(radio_status), ORB_PRIO_LOW};