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66 Commits

Author SHA1 Message Date
Matthias Grob 9b2166de72 manual_control_params: configure arm gesture doesn't require reboot 
I added wrong documentation here.
 2022-06-08 05:12:05 -04:00
Daniel Agar c40631c136 commander: handle RC loss timeout if manual_control_setpoint stops publishing (#19680) 
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2022-05-20 19:37:30 -04:00
Daniel Agar c772e5230f commander: remove compile time dependencies on non-commander parameters 
- this allows builds with mavlink fully disabled
 - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control
 2022-05-11 10:14:23 -04:00
Julian Oes 9fe7a40673 manual_control: enable sending camera commands 2022-01-10 23:04:10 -05:00
Matthias Grob 897775f38d ManualControlSelector: Allow disabling stick input 2021-12-10 09:11:08 -05:00
Matthias Grob 300e439144 ManualControlSelector: Enable original PX4 default behavior until QGC catches up 2021-12-10 09:11:08 -05:00
Matthias Grob 572890f8c0 ManualControl: add parameter to disable arm/disarm stick gesture 2021-11-23 16:03:46 +01:00
Matthias Grob 468022abba ManualControl: correct arm hysteresis parameter name 2021-11-23 16:03:46 +01:00
Matthias Grob c84b1c6566 ManualControl: ignore unassigned mode slots 
They were resulting in a message
"Switching to Unkown is currently not available".
 2021-11-23 16:03:46 +01:00
Matthias Grob 4aa0756d08 ManualControlSelector: correct parameter for any source according to documentation 2021-11-09 16:05:25 +01:00
Matthias Grob fabf865411 Use backwards compatible manual_control_setpoint instead of manual_control_input 2021-11-09 16:05:25 +01:00
Matthias Grob 423aadcc4f ManualControl: fix RC override 2021-11-09 16:05:25 +01:00
Matthias Grob 9f17f3b0f3 ManualControl: correct source for RC mode switches without mode slot 2021-11-09 16:05:25 +01:00
Matthias Grob 2b29df06fd ManualControl: avoid scheduling based on unchosen input 2021-11-09 16:05:25 +01:00
Matthias Grob 48869ed03e ManualControl: Simplify check if switches updated 2021-11-09 16:05:25 +01:00
Matthias Grob 820ba07d4b Fix landing gear processing 2021-11-09 16:05:25 +01:00
Matthias Grob af54ac7cdb ManualControl: remove unused variables and renaming 2021-11-09 16:05:25 +01:00
Matthias Grob e73e6a490d ManualControl: separate function for stick arming 2021-11-09 16:05:25 +01:00
Matthias Grob a349dae760 Use action_request to command RC VTOL transitions 2021-11-09 16:05:25 +01:00
Matthias Grob 956997eb1e Replace arm_request and mode_request with combined action_request 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
 2021-11-09 16:05:25 +01:00
Matthias Grob 052e29267d Use mode_request for RC mode switching 2021-11-09 16:05:25 +01:00
Matthias Grob f8e4846851 Use arm_request for manual killing 2021-11-09 16:05:25 +01:00
Matthias Grob af607e3040 Use separate arm_request instead of vehicle_command for RC arming 2021-11-09 16:05:25 +01:00
Matthias Grob c4473bdab7 ManualControl: clean up arm/disarm gesture 2021-11-09 16:05:25 +01:00
Matthias Grob 48ed350b25 ManualControlSelector: simplification refactoring 
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
 2021-11-09 16:05:25 +01:00
Matthias Grob cc2ec09659 ManualControl: fix arm button logic during testing 
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
 2021-11-09 16:05:25 +01:00
Matthias Grob 0901b73f50 ManualControlSelector: rename functions and validate chosen inputs all the time 2021-11-09 16:05:25 +01:00
Matthias Grob 28a29ad050 ManualControlSelector: revamp logic to switch when configuration is changed 2021-11-09 16:05:25 +01:00
Matthias Grob 396bab52ad ManualControlSelector: refactor selection to chose based on a single condition 2021-11-09 16:05:25 +01:00
Matthias Grob 1bd786c71a ManualControlSelector: don't invalidate existing setpoint with other invalid input 2021-11-09 16:05:25 +01:00
Matthias Grob e15f6b27f2 ManualControlSelector: copy manual_control_input struct instead of each individual field 2021-11-09 16:05:25 +01:00
Matthias Grob 63ddb050ef ManualControlSelector: refactor timeout calculation to be consistent 2021-11-09 16:05:25 +01:00
Matthias Grob 2528e8c572 ManualControl: correct calculation of dt in seconds 2021-11-09 16:05:25 +01:00
Matthias Grob 93bed7f670 vehicle_command: shorten arming action/origin enum names 2021-11-09 16:05:25 +01:00
Julian Oes b3a5072de5 commander/manual_control: use msg enum for params 
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
 2021-11-09 16:05:25 +01:00
Julian Oes 454aa611ae manual_control: add missing 7 2021-11-09 16:05:25 +01:00
Julian Oes 2c0fc686a7 manual_control: don't accept outdated input 2021-11-09 16:05:25 +01:00
Julian Oes 4d00a56230 manual_control: method can be static 2021-11-09 16:05:25 +01:00
Julian Oes 6027398459 manual_control: handle invalid rc_in_mode 2021-11-09 16:05:25 +01:00
Julian Oes 50cca204d8 manual_control: add check for instance 2021-11-09 16:05:25 +01:00
Julian Oes 963d15eacc manual_control: use correct sysid/compid 2021-11-09 16:05:25 +01:00
Julian Oes cfdb53a4d8 manual_control: don't switch gear on first init 
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
 2021-11-09 16:05:25 +01:00
Julian Oes 60de330f18 manual_control: add hysteresis for arm button back 2021-11-09 16:05:25 +01:00
Julian Oes 75209a7552 manual_control: address review comments 2021-11-09 16:05:25 +01:00
Matthias Grob 942eb23248 ManualControlSelector: remove commented stick difference filter draft 2021-11-09 16:05:25 +01:00
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 
Not sure why I had this the wrong way round.
 2021-11-09 16:05:25 +01:00