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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/rc_update/rc_update.h
+30 -19
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -47,7 +47,6 @@
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
@@ -55,6 +54,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
@@ -85,6 +85,8 @@ public:
bool init();
int print_status() override;
private:
void Run() override;
@@ -99,6 +101,9 @@ private:
*/
void update_rc_functions();
void UpdateManualSetpoint(const hrt_abstime &timestamp_sample);
void UpdateManualSwitches(const hrt_abstime &timestamp_sample);
/**
* Update our local parameter cache.
*/
@@ -107,13 +112,13 @@ private:
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
*/
float get_rc_value(uint8_t func, float min_value, float max_value);
float get_rc_value(uint8_t func, float min_value, float max_value) const;
/**
* Get switch position for specified function.
*/
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);
switch_pos_t get_rc_sw3pos_position(uint8_t func, float on_th, float mid_th) const;
switch_pos_t get_rc_sw2pos_position(uint8_t func, float on_th) const;
/**
* Update parameters from RC channels if the functionality is activated and the
@@ -123,7 +128,7 @@ private:
*/
void set_params_from_rc();
static constexpr unsigned RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
struct Parameters {
uint16_t min[RC_MAX_CHAN_COUNT];
@@ -151,25 +156,35 @@ private:
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; /**< notification of parameter updates */
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)}; /**< rc parameter map subscription */
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
uORB::Publication<rc_channels_s> _rc_pub{ORB_ID(rc_channels)}; /**< raw r/c control topic */
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)}; /**< manual control as actuator topic */
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)}; /**< manual control signal topic */
rc_channels_s _rc {}; /**< r/c channel data */
manual_control_switches_s _manual_switches_previous{};
manual_control_switches_s _manual_switches_last_publish{};
rc_channels_s _rc{};
rc_parameter_map_s _rc_parameter_map {};
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {}; /**< parameter values for RC control */
hrt_abstime _last_rc_to_param_map_time = 0;
hrt_abstime _last_manual_control_setpoint_publish{0};
hrt_abstime _last_rc_to_param_map_time{0};
hrt_abstime _last_timestamp_signal{0};
uint16_t _rc_values_previous[RC_MAX_CHAN_COUNT] {};
uint8_t _channel_count_previous{0};
uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
perf_counter_t _loop_perf; /**< loop performance counter */
uint8_t _channel_count_max{0};
perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
perf_counter_t _valid_data_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": valid data interval")};
DEFINE_PARAMETERS(
@@ -223,9 +238,5 @@ private:
(ParamInt<px4::params::RC_CHAN_CNT>) _param_rc_chan_cnt
)
};
} /* namespace RCUpdate */