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Commander: move rc availability to ManualControl

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This commit is contained in:
Matthias Grob
2021-02-16 10:40:22 +01:00
parent 0e1f1a9f57
commit ee2d408edc
4 changed files with 23 additions and 12 deletions
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src/modules/commander/ManualControl.cpp
+9 -2
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@@ -32,6 +32,9 @@
****************************************************************************/
#include "ManualControl.hpp"
#include <drivers/drv_hrt.h>
using namespace time_literals;
enum OverrideBits {
OVERRIDE_AUTO_MODE_BIT = (1 << 0),
@@ -41,6 +44,10 @@ enum OverrideBits {
void ManualControl::update()
{
_rc_available = _rc_allowed
&& _last_manual_control_setpoint.timestamp != 0
&& (hrt_elapsed_time(&_last_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
if (_manual_control_setpoint_sub.updated()) {
manual_control_setpoint_s manual_control_setpoint;
@@ -56,7 +63,7 @@ void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
_manual_control_setpoint = manual_control_setpoint;
}
bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode)
{
const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
&& vehicle_control_mode.flag_control_auto_enabled;
@@ -64,7 +71,7 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
&& vehicle_control_mode.flag_control_offboard_enabled;
if (rc_available && (override_auto_mode || override_offboard_mode)) {
if (_rc_available && (override_auto_mode || override_offboard_mode)) {
const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)