mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 23:10:35 +08:00
Matthias Grob
58 lines
2.4 KiB
C++
58 lines
2.4 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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#pragma once
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#include <stdint.h>
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#include <uORB/topics/manual_control_setpoint.h>
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class ManualControlSelector
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{
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public:
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void setRcInMode(int32_t rc_in_mode) { _rc_in_mode = rc_in_mode; }
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void setTimeout(uint64_t timeout) { _timeout = timeout; }
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void updateValidityOfChosenInput(uint64_t now);
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void updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance);
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manual_control_setpoint_s &setpoint();
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int instance() const { return _instance; };
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private:
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bool isInputValid(const manual_control_setpoint_s &input, uint64_t now) const;
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manual_control_setpoint_s _setpoint{};
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uint64_t _timeout{0};
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int32_t _rc_in_mode{0};
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int _instance{-1};
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uint8_t _first_valid_source{manual_control_setpoint_s::SOURCE_UNKNOWN};
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};
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