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new manual_control_switches msg (split out of manual_control_setpoint) (#16270)

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- split out switches from manual_control_setpoint into new message manual_control_switches
 - manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
 - simple switch debounce in rc_update (2 consecutive identical decodes required)
 - manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
 - manual_control_setpoint publish at minimal rate unless changing
 - commander handle landing gear switch for manual modes
 - processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
     - a future step will be to finally drop mode_switch and accompanying switches entirely

Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Daniel Agar
2020-12-11 12:11:35 -05:00
committed by GitHub
co-authored by Matthias Grob
parent 25ef76b3b8
commit ef6209ba03
25 changed files with 670 additions and 587 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+1 -1
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@@ -322,7 +322,7 @@ void task_main(int argc, char *argv[])
_controls[0].control[0] = 0.f;
_controls[0].control[1] = 0.f;
_controls[0].control[2] = 0.f;
int channel = rc_channels.function[rc_channels_s::RC_CHANNELS_FUNCTION_THROTTLE];
int channel = rc_channels.function[rc_channels_s::FUNCTION_THROTTLE];
if (ret == 0 && channel >= 0 && channel < (int)(sizeof(rc_channels.channels) / sizeof(rc_channels.channels[0]))) {
_controls[0].control[3] = rc_channels.channels[channel];