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Use backwards compatible manual_control_setpoint instead of manual_control_input

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This commit is contained in:
Matthias Grob
2021-11-03 11:33:05 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -2360,7 +2360,7 @@ Commander::run()
}
const bool mode_switch_mapped = (_param_rc_map_fltmode.get() > 0) || (_param_rc_map_mode_sw.get() > 0);
const bool is_mavlink = manual_control_setpoint.chosen_input.data_source > manual_control_input_s::SOURCE_RC;
const bool is_mavlink = manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC;
if (!_armed.armed && (is_mavlink || !mode_switch_mapped) && (_internal_state.main_state_changes == 0)) {
// if there's never been a mode change force position control as initial state
@@ -2369,8 +2369,8 @@ Commander::run()
}
_status.rc_signal_lost = false;
_is_throttle_above_center = manual_control_setpoint.chosen_input.z > 0.6f;
_is_throttle_low = manual_control_setpoint.chosen_input.z < 0.1f;
_is_throttle_above_center = manual_control_setpoint.z > 0.6f;
_is_throttle_low = manual_control_setpoint.z < 0.1f;
_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;
} else {
@@ -2400,7 +2400,7 @@ Commander::run()
&& _armed.armed
&& !_status_flags.rc_input_blocked
&& manual_control_setpoint.valid
&& manual_control_setpoint.user_override
&& manual_control_setpoint.sticks_moving
&& override_enabled) {
const transition_result_t posctl_result =
main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, _internal_state);