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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/PreFlightCheck/checks/manualControlCheck.cpp
+8 -9
View File
@@ -35,7 +35,7 @@
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
using namespace time_literals;
@@ -43,14 +43,13 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
{
bool success = true;
uORB::SubscriptionData<manual_control_setpoint_s> manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
manual_control_setpoint_sub.update();
const manual_control_setpoint_s &manual_control_setpoint = manual_control_setpoint_sub.get();
uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
const manual_control_switches_s &manual_control_switches = manual_control_switches_sub.get();
if (manual_control_setpoint.timestamp != 0) {
if (manual_control_switches.timestamp != 0) {
//check action switches
if (manual_control_setpoint.return_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
// check action switches
if (manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {
@@ -58,7 +57,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
}
}
if (manual_control_setpoint.kill_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {
@@ -66,7 +65,7 @@ bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const boo
}
}
if (manual_control_setpoint.gear_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
if (manual_control_switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
success = false;
if (report_fail) {