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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/vtol_att_control/vtol_att_control_main.cpp
+3 -3
View File
@@ -198,9 +198,9 @@ VtolAttitudeControl::is_fixed_wing_requested()
{
bool to_fw = false;
if (_manual_control_setpoint.transition_switch != manual_control_setpoint_s::SWITCH_POS_NONE &&
if (_manual_control_switches.transition_switch != manual_control_switches_s::SWITCH_POS_NONE &&
_v_control_mode.flag_control_manual_enabled) {
to_fw = (_manual_control_setpoint.transition_switch == manual_control_setpoint_s::SWITCH_POS_ON);
to_fw = (_manual_control_switches.transition_switch == manual_control_switches_s::SWITCH_POS_ON);
} else {
// listen to transition commands if not in manual or mode switch is not mapped
@@ -403,7 +403,7 @@ VtolAttitudeControl::Run()
}
_v_control_mode_sub.update(&_v_control_mode);
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_manual_control_switches_sub.update(&_manual_control_switches);
_v_att_sub.update(&_v_att);
_local_pos_sub.update(&_local_pos);
_local_pos_sp_sub.update(&_local_pos_sp);
src/modules/vtol_att_control/vtol_att_control_main.h
+3 -3
View File
@@ -66,7 +66,7 @@
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/tecs_status.h>
@@ -138,7 +138,7 @@ private:
uORB::Subscription _land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _local_pos_sp_sub{ORB_ID(vehicle_local_position_setpoint)}; // setpoint subscription
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)}; // sensor subscription
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; //manual control setpoint subscription
uORB::Subscription _manual_control_switches_sub{ORB_ID(manual_control_switches)}; //manual control setpoint subscription
uORB::Subscription _mc_virtual_att_sp_sub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)}; // local position setpoint subscription
@@ -165,7 +165,7 @@ private:
actuator_controls_s _actuators_out_1{}; //actuator controls going to the fw mixer (used for elevons)
airspeed_validated_s _airspeed_validated{}; // airspeed
manual_control_setpoint_s _manual_control_setpoint{}; //manual control setpoint
manual_control_switches_s _manual_control_switches{}; //manual control setpoint
position_setpoint_triplet_s _pos_sp_triplet{};
tecs_status_s _tecs_status{};
vehicle_attitude_s _v_att{}; //vehicle attitude