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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/rc_update/rc_update.cpp
+2 -2
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@@ -661,9 +661,9 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
void RCUpdate::UpdateManualControlInput(const hrt_abstime &timestamp_sample)
{
manual_control_input_s manual_control_input{};
manual_control_setpoint_s manual_control_input{};
manual_control_input.timestamp_sample = timestamp_sample;
manual_control_input.data_source = manual_control_input_s::SOURCE_RC;
manual_control_input.data_source = manual_control_setpoint_s::SOURCE_RC;
// limit controls
manual_control_input.y = get_rc_value(rc_channels_s::FUNCTION_ROLL, -1.f, 1.f);
src/modules/rc_update/rc_update.h
+2 -2
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@@ -53,7 +53,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/rc_channels.h>
@@ -166,7 +166,7 @@ private:
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
uORB::PublicationMulti<manual_control_input_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};