ef0926d64b
Commander: add position slow mode
2023-12-08 21:17:59 +01:00
78987f6016
ManualControl: introduce stick gesture for killing
2023-11-17 09:53:56 +01:00
fb7e973dfd
commander: allow external modes to be assigned to RC
...
Stores a hash of the mode name so that the same mode is always assigned
to the same index independent from registration order.
2023-11-15 13:18:58 +01:00
83b832fdce
ManualControl: fix case where mode switches unintentionally in air
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Case: A vehicle is already operating but has no stick input or another
source than RC. When RC stick input is switched to either because it gets
first time available or as a fallback to joystick then the mode was
immediately changed to the switch position. This can lead to loss of
control e.g. when the vehicle is flying far away and the
mode switch of the RC is in some fully manual piloted mode.
I added tests to cover the cases where RC mode initialization is expected
and also unexpceted because the vehicle is already armed.
2023-07-13 12:00:35 +02:00
b19b0d0163
ManualControl: separate switches logic function + reset fix
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Fix the previous switches initialized flag getting reset when no RC was
present or in use. This was found during functional testing.
2023-07-13 12:00:35 +02:00
3b2b60adde
ManualControl: put input processing in separate testable function
2023-07-13 12:00:35 +02:00
8dc73c4621
ManualControl: correct manual control input subscription name
2023-07-13 12:00:35 +02:00
258fc786dc
ManualControl: put parameter update into separate function
2023-07-13 12:00:35 +02:00
331cb21dee
manual_control_setpoint: change stick axes naming
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In review it was requested to have a different name for
manual_control_setpoint.z because of the adjusted range.
I started to investigate what naming is most intuitive and found
that most people recognize the stick axes as roll, pitch, yaw, throttle.
It comes at no surprise because other autopilots
and APIs seem to share this convention.
While changing the code I realized that even within the code base
the axes are usually assigned to a variable with that name or
have comments next to the assignment clarifying the axes
using these names.
2022-11-28 19:25:55 +01:00
83246c84cf
Switch manual_control_setpoint.z scaling from [0,1] to [-1,1]
...
To be consistent with all other axes of stick input and avoid future
rescaling confusion.
Note: for the MAVLink message 69 MANUAL_CONTROL it's using the full range
according to the message specs now [-1000,1000].
2022-11-28 19:25:55 +01:00
455b885f86
commander: use new failsafe state machine and add user intention class
2022-10-11 22:31:20 -04:00
c772e5230f
commander: remove compile time dependencies on non-commander parameters
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- 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
9fe7a40673
manual_control: enable sending camera commands
2022-01-10 23:04:10 -05:00
572890f8c0
ManualControl: add parameter to disable arm/disarm stick gesture
2021-11-23 16:03:46 +01:00
468022abba
ManualControl: correct arm hysteresis parameter name
2021-11-23 16:03:46 +01:00
c84b1c6566
ManualControl: ignore unassigned mode slots
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They were resulting in a message
"Switching to Unkown is currently not available".
2021-11-23 16:03:46 +01:00
fabf865411
Use backwards compatible manual_control_setpoint instead of manual_control_input
2021-11-09 16:05:25 +01:00
423aadcc4f
ManualControl: fix RC override
2021-11-09 16:05:25 +01:00
9f17f3b0f3
ManualControl: correct source for RC mode switches without mode slot
2021-11-09 16:05:25 +01:00
2b29df06fd
ManualControl: avoid scheduling based on unchosen input
2021-11-09 16:05:25 +01:00
48869ed03e
ManualControl: Simplify check if switches updated
2021-11-09 16:05:25 +01:00
820ba07d4b
Fix landing gear processing
2021-11-09 16:05:25 +01:00
af54ac7cdb
ManualControl: remove unused variables and renaming
2021-11-09 16:05:25 +01:00
e73e6a490d
ManualControl: separate function for stick arming
2021-11-09 16:05:25 +01:00
a349dae760
Use action_request to command RC VTOL transitions
2021-11-09 16:05:25 +01:00
956997eb1e
Replace arm_request and mode_request with combined action_request
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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
052e29267d
Use mode_request for RC mode switching
2021-11-09 16:05:25 +01:00
f8e4846851
Use arm_request for manual killing
2021-11-09 16:05:25 +01:00
af607e3040
Use separate arm_request instead of vehicle_command for RC arming
2021-11-09 16:05:25 +01:00
c4473bdab7
ManualControl: clean up arm/disarm gesture
2021-11-09 16:05:25 +01:00
cc2ec09659
ManualControl: fix arm button logic during testing
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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
0901b73f50
ManualControlSelector: rename functions and validate chosen inputs all the time
2021-11-09 16:05:25 +01:00
2528e8c572
ManualControl: correct calculation of dt in seconds
2021-11-09 16:05:25 +01:00
93bed7f670
vehicle_command: shorten arming action/origin enum names
2021-11-09 16:05:25 +01:00
b3a5072de5
commander/manual_control: use msg enum for params
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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
50cca204d8
manual_control: add check for instance
2021-11-09 16:05:25 +01:00
963d15eacc
manual_control: use correct sysid/compid
2021-11-09 16:05:25 +01:00
cfdb53a4d8
manual_control: don't switch gear on first init
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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
60de330f18
manual_control: add hysteresis for arm button back
2021-11-09 16:05:25 +01:00
75209a7552
manual_control: address review comments
2021-11-09 16:05:25 +01:00
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
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
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
14cfad74bf
manual_control: remove leftover debug statements
2021-11-09 16:05:25 +01:00
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
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
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
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
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
97aa06cc19
commander: move switch handling to manual_control
2021-11-09 16:05:25 +01:00
Matthias Grob