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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/mavlink/mavlink_messages.cpp
+16 -9
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@@ -72,6 +72,7 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
@@ -3602,6 +3603,7 @@ public:
private:
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)};
/* do not allow top copying this class */
MavlinkStreamManualControl(MavlinkStreamManualControl &) = delete;
@@ -3623,15 +3625,20 @@ protected:
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_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));
msg.buttons |= (manual_control_setpoint.kill_switch << (shift * 6));
manual_control_switches_s manual_control_switches{};
if (_manual_control_switches_sub.copy(&manual_control_switches)) {
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual_control_switches.mode_switch << (shift * 0));
msg.buttons |= (manual_control_switches.return_switch << (shift * 1));
msg.buttons |= (manual_control_switches.posctl_switch << (shift * 2));
msg.buttons |= (manual_control_switches.loiter_switch << (shift * 3));
msg.buttons |= (manual_control_switches.acro_switch << (shift * 4));
msg.buttons |= (manual_control_switches.offboard_switch << (shift * 5));
msg.buttons |= (manual_control_switches.kill_switch << (shift * 6));
}
mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);