Matthias Grob
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
...
Reviewing the code I saw this case arising from the order things
get checked.
2021-11-09 16:05:25 +01:00
Julian Oes
39282a795f
manual_control: fix tests
2021-11-09 16:05:25 +01:00
Julian Oes
efd8757fda
manual_control: handle NAN
2021-11-09 16:05:25 +01:00
Julian Oes
374c9f38a7
manual_control: use constrain() instead
2021-11-09 16:05:25 +01:00
Julian Oes
2a41ade223
manual_control: update first, get diff after
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Not sure why I had this the wrong way round.
2021-11-09 16:05:25 +01:00
Julian Oes
d0fea93d72
manual_control: add reset to diff
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This should prevent triggering user override right after RC re-appears.
2021-11-09 16:05:25 +01:00
Julian Oes
6a6b8d49fc
msg: re-use manual_control_input in setpoint
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This way we avoid duplication between manual_control_input and
manual_control_setpoint.
2021-11-09 16:05:25 +01:00
Julian Oes
14cfad74bf
manual_control: remove leftover debug statements
2021-11-09 16:05:25 +01:00
Julian Oes
bd0c1014d9
manual_control: support arming button
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The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
2021-11-09 16:05:25 +01:00
Julian Oes
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
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ORBIT and PRECLAND are not actually possible on the flight mode switch.
2021-11-09 16:05:25 +01:00
Julian Oes
56b2b81600
manual_control: use filter to check user override
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Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
2021-11-09 16:05:25 +01:00
Julian Oes
97d01f200e
commander: move manual_control and switches out
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This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
2021-11-09 16:05:25 +01:00
Julian Oes
916ffef04c
manual_control: send initial mode in the beginning
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In order for commander to know the desired mode we need to send the
initial position of the mode slot.
2021-11-09 16:05:25 +01:00
Julian Oes
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
Julian Oes
08e58a44e9
Fix style
2021-11-09 16:05:25 +01:00
Julian Oes
71d6aa913d
manual_control: starting to implement switches
2021-11-09 16:05:25 +01:00
Julian Oes
cda6524421
manual_control: move override detection
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This also removes the option to ignore throttle for the override
detection as it's not really required anymore.
2021-11-09 16:05:25 +01:00
Julian Oes
1c15cc11d8
manual_control: implement (dis)arming via command
2021-11-09 16:05:25 +01:00
Julian Oes
8876af9150
manual_control: add instance to selector
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This instance is then used to schedule the callback for the
subscription.
2021-11-09 16:05:25 +01:00
Julian Oes
723db8bf2a
manual_control: add selector class [WIP]
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This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
2021-11-09 16:05:25 +01:00
Daniel Agar
2d816e0b3e
[WIP] manual_control selector hacks
2021-11-09 16:05:25 +01:00
Matthias Grob