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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
2021-11-09 16:05:25 +01:00
parent 423aadcc4f
commit fabf865411
30 changed files with 252 additions and 208 deletions
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src/modules/manual_control/ManualControlSelector.hpp
+2 -3
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@@ -34,7 +34,6 @@
#pragma once
#include <stdint.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_setpoint.h>
class ManualControlSelector
@@ -43,12 +42,12 @@ public:
void setRcInMode(int32_t rc_in_mode) { _rc_in_mode = rc_in_mode; }
void setTimeout(uint64_t timeout) { _timeout = timeout; }
void updateValidityOfChosenInput(uint64_t now);
void updateWithNewInputSample(uint64_t now, const manual_control_input_s &input, int instance);
void updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance);
manual_control_setpoint_s &setpoint();
int instance() const { return _instance; };
private:
bool isInputValid(const manual_control_input_s &input, uint64_t now) const;
bool isInputValid(const manual_control_setpoint_s &input, uint64_t now) const;
manual_control_setpoint_s _setpoint{};
uint64_t _timeout{0};