From f1f3c81566d0c44f1d59a447e590968602db9538 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 1 Oct 2025 16:03:13 +0200 Subject: [PATCH] Update COM_RC_IN_MODE enum naming --- .../checks/rcCalibrationCheck.cpp | 2 +- src/modules/commander/failsafe/failsafe.cpp | 4 +-- src/modules/commander/failsafe/failsafe.h | 18 ++++++------- .../manual_control/ManualControlSelector.cpp | 26 +++++++++---------- .../manual_control/ManualControlSelector.hpp | 20 +++++++------- .../ManualControlSelectorTest.cpp | 8 +++--- 6 files changed, 39 insertions(+), 39 deletions(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp index d224939137..d1008d3253 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp @@ -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; } diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index d86e672d7e..e366e12947 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -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, diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h index 47d292652f..9a9384f621 100644 --- a/src/modules/commander/failsafe/failsafe.h +++ b/src/modules/commander/failsafe/failsafe.h @@ -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 { diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp index 9c8720818a..ad7c8b7ed3 100644 --- a/src/modules/manual_control/ManualControlSelector.cpp +++ b/src/modules/manual_control/ManualControlSelector.cpp @@ -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; } diff --git a/src/modules/manual_control/ManualControlSelector.hpp b/src/modules/manual_control/ManualControlSelector.hpp index fb4abfe170..dd2f8cd705 100644 --- a/src/modules/manual_control/ManualControlSelector.hpp +++ b/src/modules/manual_control/ManualControlSelector.hpp @@ -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}; }; diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp index 6b42cfca7b..45ad56b0f0 100644 --- a/src/modules/manual_control/ManualControlSelectorTest.cpp +++ b/src/modules/manual_control/ManualControlSelectorTest.cpp @@ -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