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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Julian Oes
9cb2bf389c
Until now RC input was translated to angles only. I added the param MNT_RC_IN_MODE which allows the RC input to be used for angular rate.
97 lines
3.0 KiB
C++
97 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2020 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 input_rc.h
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#pragma once
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#include "input.h"
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#include <uORB/topics/manual_control_setpoint.h>
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namespace vmount
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{
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class InputMavlinkROI;
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class InputMavlinkCmdMount;
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/**
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** class InputRC
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* RC input class using manual_control_setpoint topic
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*/
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class InputRC : public InputBase
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{
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public:
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/**
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* @param aux_channel_roll which aux channel to use for roll (set to 0 to use a fixed angle of 0)
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* @param aux_channel_pitch
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* @param aux_channel_yaw
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*/
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InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw, float mnt_rate_pitch, float mnt_rate_yaw,
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int rc_in_mode);
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virtual ~InputRC();
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virtual void print_status();
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protected:
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virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
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virtual int initialize();
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/**
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* @return true if there was a change in control data
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*/
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virtual bool _read_control_data_from_subscription(ControlData &control_data, bool already_active);
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float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
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private:
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int _aux_channels[3] {};
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float _mnt_rate_pitch{0.f};
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float _mnt_rate_yaw{0.f};
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int _rc_in_mode{0};
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int _manual_control_setpoint_sub{-1};
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bool _first_time{true};
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float _last_set_aux_values[3] {};
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};
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} /* namespace vmount */
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