Move param handles in rc_update into unified struct

- To follow structure & matthias recommendation

msg/rc_channels.msg

@@ -21,14 +21,6 @@ uint8 FUNCTION_KILLSWITCH    = 17
 uint8 FUNCTION_TRANSITION    = 18
 uint8 FUNCTION_GEAR          = 19
 uint8 FUNCTION_ARMSWITCH     = 20
-uint8 FUNCTION_FLTBTN_SLOT_1 = 21
-uint8 FUNCTION_FLTBTN_SLOT_2 = 22
-uint8 FUNCTION_FLTBTN_SLOT_3 = 23
-uint8 FUNCTION_FLTBTN_SLOT_4 = 24
-uint8 FUNCTION_FLTBTN_SLOT_5 = 25
-uint8 FUNCTION_FLTBTN_SLOT_6 = 26
-
-uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
 
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)

src/modules/rc_update/params.c

@@ -1557,37 +1557,98 @@ PARAM_DEFINE_INT32(RC_MAP_TRANS_SW, 0);
 PARAM_DEFINE_INT32(RC_MAP_GEAR_SW, 0);
 
 /**
- * Button flight mode selection
+ * Mask to indicate if the channel is a button for the trigger action
  *
- * This bitmask allows to specify multiple channels for changing flight modes using
- * momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1).
- * The resulting modes for each slot X is defined by the COM_FLTMODEX parameters.
- * The functionality can be used only if RC_MAP_FLTMODE is disabled.
+ * This bitmask allows to specify multiple channels to indicate whether it's a button.
+ * If not marked, the channel is assumed to be a switch. This configuration allows the
+ * rc_update to correctly decode the input signals to trigger appropriate actions.
  *
- * The maximum number of available slots and hence bits set in the mask is 6.
  * @min 0
  * @max 258048
- * @group Radio Switches
- * @bit 0 Mask Channel 1 as a mode button
- * @bit 1 Mask Channel 2 as a mode button
- * @bit 2 Mask Channel 3 as a mode button
- * @bit 3 Mask Channel 4 as a mode button
- * @bit 4 Mask Channel 5 as a mode button
- * @bit 5 Mask Channel 6 as a mode button
- * @bit 6 Mask Channel 7 as a mode button
- * @bit 7 Mask Channel 8 as a mode button
- * @bit 8 Mask Channel 9 as a mode button
- * @bit 9 Mask Channel 10 as a mode button
- * @bit 10 Mask Channel 11 as a mode button
- * @bit 11 Mask Channel 12 as a mode button
- * @bit 12 Mask Channel 13 as a mode button
- * @bit 13 Mask Channel 14 as a mode button
- * @bit 14 Mask Channel 15 as a mode button
- * @bit 15 Mask Channel 16 as a mode button
- * @bit 16 Mask Channel 17 as a mode button
- * @bit 17 Mask Channel 18 as a mode button
+ * @group Radio Trigger
+ * @bit 0 Mask Channel 1 as a button
+ * @bit 1 Mask Channel 2 as a button
+ * @bit 2 Mask Channel 3 as a button
+ * @bit 3 Mask Channel 4 as a button
+ * @bit 4 Mask Channel 5 as a button
+ * @bit 5 Mask Channel 6 as a button
+ * @bit 6 Mask Channel 7 as a button
+ * @bit 7 Mask Channel 8 as a button
+ * @bit 8 Mask Channel 9 as a button
+ * @bit 9 Mask Channel 10 as a button
+ * @bit 10 Mask Channel 11 as a button
+ * @bit 11 Mask Channel 12 as a button
+ * @bit 12 Mask Channel 13 as a button
+ * @bit 13 Mask Channel 14 as a button
+ * @bit 14 Mask Channel 15 as a button
+ * @bit 15 Mask Channel 16 as a button
+ * @bit 16 Mask Channel 17 as a button
+ * @bit 17 Mask Channel 18 as a button
  */
-PARAM_DEFINE_INT32(RC_MAP_FLTM_BTN, 0);
+PARAM_DEFINE_INT32(RC_TRIG_BTN_MASK, 0);
+
+/**
+ * RC Channel for trigger slot 1
+ *
+ * @min 0
+ * @max 18
+ * @group Radio Trigger
+ * @value 0 Unassigned
+ * @value 1 Channel 1
+ * @value 2 Channel 2
+ * @value 3 Channel 3
+ * @value 4 Channel 4
+ * @value 5 Channel 5
+ * @value 6 Channel 6
+ * @value 7 Channel 7
+ * @value 8 Channel 8
+ * @value 9 Channel 9
+ * @value 10 Channel 10
+ * @value 11 Channel 11
+ * @value 12 Channel 12
+ * @value 13 Channel 13
+ * @value 14 Channel 14
+ * @value 15 Channel 15
+ * @value 16 Channel 16
+ * @value 17 Channel 17
+ * @value 18 Channel 18
+ */
+PARAM_DEFINE_INT32(RC_TRIG1_CHAN, 0);
+
+/**
+ * Which action the Trigger slot 1 triggers
+ *
+ * The flight mode enums follow the convention defined in the commander_state.msg uORB message.
+ * Everything else (16 ~ ) is a non-flight-mode actions
+ *
+ * @min -1
+ * @max 20
+ * @group Radio Trigger
+ * @value -1 Unassigned
+ * @value 0 Manual
+ * @value 1 Altitude
+ * @value 2 Position
+ * @value 3 Mission
+ * @value 4 Loiter
+ * @value 5 Return
+ * @value 6 Acro
+ * @value 7 Offboard
+ * @value 8 Stabilized
+ * @value 10 Takeoff
+ * @value 11 Land
+ * @value 12 Follow Me
+ * @value 13 Precision Land
+ * @value 14 Orbit
+ * @value 15 Auto VTOL Takeoff
+ * @value 16 Killswitch
+ * @value 17 Arm
+ * @value 18 VTOL Transition
+ * @value 19 Gear
+ * @value 20 Photo
+ * @value 21 Video
+ */
+PARAM_DEFINE_INT32(RC_TRIG1_ACTION, 0);
+
 
 /**
  * AUX1 Passthrough RC channel

src/modules/rc_update/rc_update.cpp

@@ -64,7 +64,15 @@ static bool operator !=(const manual_control_switches_s &a, const manual_control
 
 RCUpdate::RCUpdate() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
+	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
+	_trigger_slots_hysteresis{
+	systemlib::Hysteresis{false},
+	systemlib::Hysteresis{false},
+	systemlib::Hysteresis{false},
+	systemlib::Hysteresis{false},
+	systemlib::Hysteresis{false},
+	systemlib::Hysteresis{false}
+}
 {
 	// initialize parameter handles
 	for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
@@ -99,10 +107,19 @@ RCUpdate::RCUpdate() :
 		_parameter_handles.rc_map_param[i] = param_find(name);
 	}
 
+	// Find param handles for Generic Trigger Channel & Actions for slot 1 ~ 6
+	for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
+		char param_name_buf[17] = {};
+		snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_CHAN", trig_slot);
+		_parameter_handles.generic_trigger_chan[trig_slot - 1] = param_find(param_name_buf);
+		snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot);
+		_parameter_handles.generic_trigger_action[trig_slot - 1] = param_find(param_name_buf);
+	}
+
 	rc_parameter_map_poll(true /* forced */);
 	parameters_updated();
 
-	_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
+	//_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
 }
 
 RCUpdate::~RCUpdate()
@@ -154,6 +171,16 @@ void RCUpdate::parameters_updated()
 
 	update_rc_functions();
 
+	// Update and check values of the generic action parameters
+	for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
+		int32_t new_channel{RC_TRIG_CHAN_UNASSIGNED};
+		int32_t new_action{RC_TRIG_ACTION_UNASSIGNED};
+		param_get(_parameter_handles.generic_trigger_chan[trig_slot - 1], &new_channel);
+		param_get(_parameter_handles.generic_trigger_action[trig_slot - 1], &new_action);
+
+
+	}
+
 	// deprecated parameters, will be removed post v1.12 once QGC is updated
 	{
 		int32_t rc_map_value = 0;
@@ -230,8 +257,6 @@ void RCUpdate::update_rc_functions()
 	for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
 		_rc.function[rc_channels_s::FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
 	}
-
-	map_flight_modes_buttons();
 }
 
 void RCUpdate::rc_parameter_map_poll(bool forced)
@@ -306,42 +331,6 @@ void RCUpdate::set_params_from_rc()
 	}
 }
 
-void
-RCUpdate::map_flight_modes_buttons()
-{
-	static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + manual_control_switches_s::MODE_SLOT_NUM <= sizeof(
-			      _rc.function) / sizeof(_rc.function[0]), "Unexpected number of RC functions");
-	static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_COUNT == manual_control_switches_s::MODE_SLOT_NUM,
-		      "Unexpected number of Flight Modes slots");
-
-	// Reset all the slots to -1
-	for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
-		_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = -1;
-	}
-
-	// If the functionality is disabled we don't need to map channels
-	const int flightmode_buttons = _param_rc_map_flightmode_buttons.get();
-
-	if (flightmode_buttons == 0) {
-		return;
-	}
-
-	uint8_t slot = 0;
-
-	for (uint8_t channel = 0; channel < RC_MAX_CHAN_COUNT; channel++) {
-		if (flightmode_buttons & (1 << channel)) {
-			PX4_DEBUG("Slot %d assigned to channel %d", slot + 1, channel);
-			_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = channel;
-			slot++;
-		}
-
-		if (slot >= manual_control_switches_s::MODE_SLOT_NUM) {
-			// we have filled all the available slots
-			break;
-		}
-	}
-}
-
 void RCUpdate::Run()
 {
 	if (should_exit()) {
@@ -605,7 +594,45 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 			switches.mode_slot = num_slots;
 		}
 
-	} else if (_param_rc_map_flightmode_buttons.get() > 0) {
+	}
+
+	// Use the Generic RC Switch / Button only when the RC is in use
+	if (_manual_control_setpoint_sub.update() &&
+	    _manual_control_setpoint_sub.get().data_source == manual_control_setpoint_s::SOURCE_RC) {
+		_manual_control_setpoint_source_is_rc = true;
+	}
+
+	// Go through the trigger slots and update the states
+	const uint32_t rc_trigger_is_button_mask = _param_rc_trig_btn_mask.get();
+
+	for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
+		int channel{RC_TRIG_CHAN_UNASSIGNED};
+		param_get(_trigger_channel_param_handles[trig_slot - 1], &channel);
+		int action{RC_TRIGGER_ACTION_UNASSIGNED};
+		param_get(_trigger_action_param_handles[trig_slot - 1], &action);
+
+		if (channel > RC_TRIG_CHAN_UNASSIGNED) {
+
+		}
+	}
+
+	// Update the Generic Action states
+	const uint8_t trig1_chan = _param_rc_trig1_chan.get();
+	const uint8_t trig1_action = _param_rc_trig1_action.get();
+
+	// Trigger Channel is configured
+	if (trig1_chan > 0) {
+		const bool is_btn = _param_rc_trig_btn_mask.get() & (1 << 0);
+
+		if (is_btn) {
+
+		} else {
+			// Is Switch
+
+		}
+	}
+
+	else if (_param_rc_map_flightmode_buttons.get() > 0) {
 		switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
 		bool is_consistent_button_press = false;
 
@@ -628,12 +655,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
 				break;
 			}
 		}
-
-		_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
-
-		if (_button_pressed_hysteresis.get_state()) {
-			switches.mode_slot = _potential_button_press_slot;
-		}
 	}
 
 	switches.return_switch     = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RETURN,     _param_rc_return_th.get());

src/modules/rc_update/rc_update.h

@@ -48,6 +48,7 @@
 #include <drivers/drv_hrt.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
+
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
@@ -66,6 +67,43 @@ using namespace time_literals;
 namespace rc_update
 {
 
+// Number of Generic Trigger slots that can be configured
+static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6;
+
+// Value of the RC_TRIG#_CHAN when the channel is unassigned
+static constexpr uint8_t RC_TRIG_CHAN_UNASSIGNED = 0;
+
+// Value of the RC_TRIG#_ACTION when the action is unassigned
+static constexpr uint8_t RC_TRIG_ACTION_UNASSIGNED = -1;
+
+// Enum class translation of the RC_TRIG#_ACTION values
+enum RC_TRIGGER_ACTIONS {
+	RC_TRIGGER_ACTION_UNASSIGNED = -1,
+	// Commander States (defined in commander_state.msg)
+	RC_TRIGGER_ACTION_MANUAL_FLIGHTMODE = 0,
+	RC_TRIGGER_ACTION_ALTITUDE_FLIGHTMODE = 1,
+	RC_TRIGGER_ACTION_POSITION_FLIGHTMODE = 2,
+	RC_TRIGGER_ACTION_MISSION_FLIHGTMODE = 3,
+	RC_TRIGGER_ACTION_HOLD_FLIGHTMODE = 4,
+	RC_TRIGGER_ACTION_RETURN_FLIGHTMODE = 5,
+	RC_TRIGGER_ACTION_ACRO_FLIGHTMODE = 6,
+	RC_TRIGGER_ACTION_OFFBOARD_FLIGHTMODE = 7,
+	RC_TRIGGER_ACTION_STABILIZED_FLIGHTMODE = 8,
+	RC_TRIGGER_ACTION_TAKEOFF = 10,
+	RC_TRIGGER_ACTION_LAND = 11,
+	RC_TRIGGER_ACTION_FOLLOW_ME_FLIGHTMODE = 12,
+	RC_TRIGGER_ACTION_PRECISION_LAND_FLIGHTMODE = 13,
+	RC_TRIGGER_ACTION_ORBIT_FLIGHTMODE = 14,
+	RC_TRIGGER_ACTION_AUTO_VTOL_TAKEOFF = 15,
+	// Non- Commander State Actions
+	RC_TRIGGER_ACTION_KILLSWITCH = 16,
+	RC_TRIGGER_ACTION_ARM = 17,
+	RC_TRIGGER_ACTION_VTOL_TRANSITION = 18,
+	RC_TRIGGER_ACTION_GEAR = 19,
+	RC_TRIGGER_ACTION_PHOTO = 20,
+	RC_TRIGGER_ACTION_VIDEO = 21
+};
+
 /**
  ** class RCUpdate
  *
@@ -132,8 +170,6 @@ private:
 	 */
 	void		set_params_from_rc();
 
-	void		map_flight_modes_buttons();
-
 	static constexpr uint8_t RC_MAX_CHAN_COUNT{input_rc_s::RC_INPUT_MAX_CHANNELS}; /**< maximum number of r/c channels we handle */
 
 	struct Parameters {
@@ -144,6 +180,9 @@ private:
 		bool rev[RC_MAX_CHAN_COUNT];
 
 		int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
+
+		uint8_t generic_trigger_chan[RC_TRIG_SLOT_COUNT];
+		uint8_t generic_trigger_action[RC_TRIG_SLOT_COUNT];
 	} _parameters{};
 
 	struct ParameterHandles {
@@ -154,16 +193,17 @@ private:
 		param_t dz[RC_MAX_CHAN_COUNT];
 
 		param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
-		param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< param handles for the parameters which are bound
-								to a RC channel, equivalent float values in the
-								_parameters struct are not existing
-								because these parameters are never read. */
+		param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
+		/**< param handles for the parameters which are bound to a RC channel, equivalent float values
+		 * in the_parameters struct are not existing because these parameters are never read. */
+
+		param_t generic_trigger_chan[RC_TRIG_SLOT_COUNT];
+		param_t generic_trigger_action[RC_TRIG_SLOT_COUNT];
 	} _parameter_handles{};
 
 	uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-
+	uORB::SubscriptionData<manual_control_setpoint_s> _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
 	uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
 
@@ -190,8 +230,12 @@ private:
 	uint8_t _channel_count_previous{0};
 	uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
 
-	uint8_t _potential_button_press_slot{0};
-	systemlib::Hysteresis _button_pressed_hysteresis{false};
+	// Flag to indicate that RC input is being used for manual control (whether we can use generic action)
+	bool _manual_control_setpoint_source_is_rc{false};
+	systemlib::Hysteresis _trigger_slots_hysteresis[RC_TRIG_SLOT_COUNT];
+	param_t _trigger_channel_param_handles[RC_TRIG_SLOT_COUNT] {};
+	param_t _trigger_action_param_handles[RC_TRIG_SLOT_COUNT] {};
+
 	systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
 
 	uint8_t _channel_count_max{0};
@@ -201,17 +245,14 @@ private:
 	perf_counter_t _valid_data_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": valid data interval")};
 
 	DEFINE_PARAMETERS(
-
 		(ParamInt<px4::params::RC_MAP_ROLL>) _param_rc_map_roll,
 		(ParamInt<px4::params::RC_MAP_PITCH>) _param_rc_map_pitch,
 		(ParamInt<px4::params::RC_MAP_YAW>) _param_rc_map_yaw,
 		(ParamInt<px4::params::RC_MAP_THROTTLE>) _param_rc_map_throttle,
 		(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
-
 		(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
-
+		(ParamInt<px4::params::RC_TRIG_BTN_MASK>) _param_rc_trig_btn_mask,
 		(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
-
 		(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
 		(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,
 		(ParamInt<px4::params::RC_MAP_OFFB_SW>) _param_rc_map_offb_sw,
@@ -219,7 +260,6 @@ private:
 		(ParamInt<px4::params::RC_MAP_ARM_SW>) _param_rc_map_arm_sw,
 		(ParamInt<px4::params::RC_MAP_TRANS_SW>) _param_rc_map_trans_sw,
 		(ParamInt<px4::params::RC_MAP_GEAR_SW>) _param_rc_map_gear_sw,
-		(ParamInt<px4::params::RC_MAP_FLTM_BTN>) _param_rc_map_flightmode_buttons,
 
 		(ParamInt<px4::params::RC_MAP_AUX1>) _param_rc_map_aux1,
 		(ParamInt<px4::params::RC_MAP_AUX2>) _param_rc_map_aux2,