mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 22:30:34 +08:00
Matthias Grob
102 lines
4.2 KiB
C++
102 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ManualControl.hpp
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*
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* @brief Logic for handling RC or Joystick input
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*
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* @author Matthias Grob <maetugr@gmail.com>
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*/
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#pragma once
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#include <lib/hysteresis/hysteresis.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/manual_control_switches.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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class ManualControl : ModuleParams
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{
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public:
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ManualControl(ModuleParams *parent) : ModuleParams(parent) {};
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~ManualControl() override = default;
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void setRCAllowed(const bool rc_allowed) { _rc_allowed = rc_allowed; }
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/**
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* Check for manual control input changes and process them
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* @return true if there was new data
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*/
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bool update();
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bool isRCAvailable() const { return _rc_available; }
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bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode);
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bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
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manual_control_switches_s &manual_control_switches, const bool landed);
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bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
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const manual_control_switches_s &manual_control_switches, const bool landed);
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bool isThrottleLow() const { return _last_manual_control_setpoint.z < 0.1f; }
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bool isThrottleAboveCenter() const { return _last_manual_control_setpoint.z > 0.6f; }
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hrt_abstime getLastRcTimestamp() const { return _last_manual_control_setpoint.timestamp; }
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private:
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void updateParams() override;
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void process(const manual_control_setpoint_s &manual_control_setpoint);
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uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
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manual_control_setpoint_s _manual_control_setpoint{};
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manual_control_setpoint_s _last_manual_control_setpoint{};
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// Availability
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bool _rc_allowed{false};
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bool _rc_available{false};
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// Arming/disarming
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systemlib::Hysteresis _stick_disarm_hysteresis{false};
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systemlib::Hysteresis _stick_arm_hysteresis{false};
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uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
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(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
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(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
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(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
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(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
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(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
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)
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};
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