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Update COM_RC_IN_MODE enum naming

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This commit is contained in:
Matthias Grob
2025-10-01 18:31:12 +02:00
committed by Tobias Büchli
parent acf5766f9c
commit f1f3c81566
6 changed files with 39 additions and 39 deletions
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src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
+1 -1
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@@ -75,7 +75,7 @@ void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporte
return;
}
// return early when joystick only or stick input disabled
// return early when stick input from RC is disabled (MAVLink only or manual control disabled)
if (_param_com_rc_in_mode.get() == 1 || _param_com_rc_in_mode.get() == 4) {
return;
}
src/modules/commander/failsafe/failsafe.cpp
+2 -2
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@@ -490,7 +490,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
rc_loss_ignored_takeoff || rc_loss_ignored_external_mode || ignore_any_link_loss_vtol_takeoff_fixedwing
|| _manual_control_lost_at_arming || rc_loss_ignored_altitude_cruise;
if (_param_com_rc_in_mode.get() != int32_t(RcInMode::StickInputDisabled) && !rc_loss_ignored) {
if (_param_com_rc_in_mode.get() != int32_t(RcInMode::DisableManualControl) && !rc_loss_ignored) {
CHECK_FAILSAFE(status_flags, manual_control_signal_lost,
fromNavDllOrRclActParam(_param_nav_rcl_act.get()).causedBy(Cause::ManualControlLoss));
}
@@ -531,7 +531,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
// If manual control loss and GCS connection loss are disabled and we lose both command links and the mission finished,
// trigger RTL to avoid losing the vehicle
if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::StickInputDisabled) || rc_loss_ignored_mission)
if ((_param_com_rc_in_mode.get() == int32_t(RcInMode::DisableManualControl) || rc_loss_ignored_mission)
&& _param_nav_dll_act.get() == int32_t(gcs_connection_loss_failsafe_mode::Disabled)
&& state.mission_finished) {
_last_state_mission_control_lost = checkFailsafe(_caller_id_mission_control_lost, _last_state_mission_control_lost,
src/modules/commander/failsafe/failsafe.h
+9 -9
View File
@@ -128,15 +128,15 @@ private:
// COM_RC_IN_MODE parameter values
enum class RcInMode : int32_t {
RcTransmitterOnly = 0, // RC Transmitter only
JoystickOnly = 1, // Joystick only
RcAndJoystickWithFallback = 2, // RC And Joystick with fallback
RcOrJoystickKeepFirst = 3, // RC or Joystick keep first
StickInputDisabled = 4, // input disabled
RcThenJoystickAscendingPriority = 5, // RC, then Joystick ascending prio
JoystickAscendingThenRcPriority = 6, // Joystick ascending prio, then RC
RcThenJoystickDescendingPriority = 7, // RC, then Joystick descending prio
JoystickDescendingThenRcPriority = 8 // Joystick descending prio, then RC
RcOnly = 0,
MavLinkOnly = 1,
RcOrMavlinkWithFallback = 2,
RcOrMavlinkKeepFirst = 3,
DisableManualControl = 4,
PriorityRcThenMavlinkAscending = 5,
PriorityMavlinkAscendingThenRc = 6,
PriorityRcThenMavlinkDescending = 7,
PriorityMavlinkDescendingThenRc = 8
};
enum class command_after_high_wind_failsafe : int32_t {
src/modules/manual_control/ManualControlSelector.cpp
+13 -13
View File
@@ -48,10 +48,10 @@ void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_
const bool update_existing_input = _setpoint.valid && (input.data_source == _setpoint.data_source);
const bool start_using_new_input = !_setpoint.valid;
const bool is_priority_mode = (_rc_in_mode == RcInMode::RcThenJoystickAscendingPriority
|| _rc_in_mode == RcInMode::JoystickAscendingThenRcPriority
|| _rc_in_mode == RcInMode::RcThenJoystickDescendingPriority
|| _rc_in_mode == RcInMode::JoystickDescendingThenRcPriority);
const bool is_priority_mode = (_rc_in_mode == RcInMode::PriorityRcThenMavlinkAscending
|| _rc_in_mode == RcInMode::PriorityMavlinkAscendingThenRc
|| _rc_in_mode == RcInMode::PriorityRcThenMavlinkDescending
|| _rc_in_mode == RcInMode::PriorityMavlinkDescendingThenRc);
// Switch to new input if it's valid and we don't already have a valid one
if (isInputValid(input, now) && (update_existing_input || start_using_new_input || is_priority_mode)) {
@@ -76,24 +76,24 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
bool match = false;
switch (_rc_in_mode) { // COM_RC_IN_MODE
case RcInMode::RcTransmitterOnly:
case RcInMode::RcOnly:
match = isRc(input.data_source);
break;
case RcInMode::JoystickOnly:
case RcInMode::MavLinkOnly:
match = isMavlink(input.data_source);
break;
case RcInMode::RcAndJoystickWithFallback:
case RcInMode::RcOrMavlinkWithFallback:
match = true;
break;
case RcInMode::RcOrJoystickKeepFirst:
case RcInMode::RcOrMavlinkKeepFirst:
match = (input.data_source == _first_valid_source)
|| (_first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN);
break;
case RcInMode::RcThenJoystickAscendingPriority:
case RcInMode::PriorityRcThenMavlinkAscending:
if (isRc(input.data_source)) {
match = true;
@@ -108,7 +108,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::JoystickAscendingThenRcPriority:
case RcInMode::PriorityMavlinkAscendingThenRc:
if (isMavlink(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
@@ -125,7 +125,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::RcThenJoystickDescendingPriority:
case RcInMode::PriorityRcThenMavlinkDescending:
if (isRc(input.data_source)) {
match = true;
@@ -140,7 +140,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::JoystickDescendingThenRcPriority:
case RcInMode::PriorityMavlinkDescendingThenRc:
if (isMavlink(input.data_source)) {
if (!_setpoint.valid || isRc(_setpoint.data_source)) {
match = true;
@@ -157,7 +157,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input,
break;
case RcInMode::StickInputDisabled:
case RcInMode::DisableManualControl:
default:
break;
}
src/modules/manual_control/ManualControlSelector.hpp
+10 -10
View File
@@ -53,20 +53,20 @@ private:
// COM_RC_IN_MODE parameter values
enum class RcInMode : int32_t {
RcTransmitterOnly = 0, // RC Transmitter only
JoystickOnly = 1, // Joystick only
RcAndJoystickWithFallback = 2, // RC And Joystick with fallback
RcOrJoystickKeepFirst = 3, // RC or Joystick keep first
StickInputDisabled = 4, // input disabled
RcThenJoystickAscendingPriority = 5, // RC, then Joystick ascending prio
JoystickAscendingThenRcPriority = 6, // Joystick ascending prio, then RC
RcThenJoystickDescendingPriority = 7, // RC, then Joystick descending prio
JoystickDescendingThenRcPriority = 8 // Joystick descending prio, then RC
RcOnly = 0,
MavLinkOnly = 1,
RcOrMavlinkWithFallback = 2,
RcOrMavlinkKeepFirst = 3,
DisableManualControl = 4,
PriorityRcThenMavlinkAscending = 5,
PriorityMavlinkAscendingThenRc = 6,
PriorityRcThenMavlinkDescending = 7,
PriorityMavlinkDescendingThenRc = 8
};
manual_control_setpoint_s _setpoint{};
uint64_t _timeout{0};
RcInMode _rc_in_mode{RcInMode::RcTransmitterOnly};
RcInMode _rc_in_mode{RcInMode::RcOnly};
int _instance{-1};
uint8_t _first_valid_source{manual_control_setpoint_s::SOURCE_UNKNOWN};
};
src/modules/manual_control/ManualControlSelectorTest.cpp
+4 -4
View File
@@ -352,7 +352,7 @@ TEST(ManualControlSelector, RcOutdated)
EXPECT_EQ(selector.instance(), -1);
}
TEST(ManualControlSelector, RcThenJoystickAscendingPriority)
TEST(ManualControlSelector, PriorityRcThenMavlinkAscending)
{
ManualControlSelector selector;
selector.setRcInMode(5); // Configure RC, then Joystick ascending
@@ -456,7 +456,7 @@ TEST(ManualControlSelector, RcThenJoystickAscendingPriority)
EXPECT_EQ(selector.instance(), 2);
}
TEST(ManualControlSelector, JoystickAscendingThenRcPriority)
TEST(ManualControlSelector, PriorityMavlinkAscendingThenRc)
{
ManualControlSelector selector;
selector.setRcInMode(6); // Configure Joystick ascending, then RC
@@ -560,7 +560,7 @@ TEST(ManualControlSelector, JoystickAscendingThenRcPriority)
EXPECT_EQ(selector.instance(), 0);
}
TEST(ManualControlSelector, RcThenJoystickDescendingPriority)
TEST(ManualControlSelector, PriorityRcThenMavlinkDescending)
{
ManualControlSelector selector;
selector.setRcInMode(7); // Configure RC, then Joystick descending
@@ -664,7 +664,7 @@ TEST(ManualControlSelector, RcThenJoystickDescendingPriority)
EXPECT_EQ(selector.instance(), 1);
}
TEST(ManualControlSelector, JoystickDescendingThenRcPriority)
TEST(ManualControlSelector, PriorityMavlinkDescendingThenRc)
{
ManualControlSelector selector;
selector.setRcInMode(8); // Configure Joystick descending, then RC