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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/modules/commander/Commander.hpp
+9 -4
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@@ -48,6 +48,7 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/test_motor.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -68,6 +69,7 @@
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/iridiumsbd_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/offboard_control_mode.h>
@@ -356,11 +358,12 @@ private:
unsigned int _leds_counter{0};
manual_control_setpoint_s _manual_control_setpoint{}; ///< the current manual control setpoint
manual_control_setpoint_s _last_manual_control_setpoint{}; ///< the manual control setpoint valid at the last mode switch
manual_control_setpoint_s _manual_control_setpoint{}; ///< the current manual control setpoint
manual_control_switches_s _manual_control_switches{};
manual_control_switches_s _last_manual_control_switches{};
hrt_abstime _rc_signal_lost_timestamp{0}; ///< Time at which the RC reception was lost
int32_t _flight_mode_slots[manual_control_setpoint_s::MODE_SLOT_NUM] {};
uint8_t _last_manual_control_setpoint_arm_switch{0};
int32_t _flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
uint32_t _stick_off_counter{0};
uint32_t _stick_on_counter{0};
@@ -406,6 +409,7 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
@@ -433,6 +437,7 @@ private:
uORB::Publication<vehicle_status_flags_s> _vehicle_status_flags_pub{ORB_ID(vehicle_status_flags)};
uORB::Publication<vehicle_status_s> _status_pub{ORB_ID(vehicle_status)};
uORB::Publication<mission_s> _mission_pub{ORB_ID(mission)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::PublicationData<home_position_s> _home_pub{ORB_ID(home_position)};