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manual_control: don't accept outdated input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
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
...
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
...
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
...
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
...
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
...
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]
...
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