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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 13:33:34 +08:00
Daniel AgarandMatthias Grob
ef6209ba03
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
80 lines
2.9 KiB
C++
80 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "../PreFlightCheck.hpp"
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#include <systemlib/mavlink_log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/manual_control_switches.h>
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using namespace time_literals;
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bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail)
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{
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bool success = true;
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uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
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const manual_control_switches_s &manual_control_switches = manual_control_switches_sub.get();
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if (manual_control_switches.timestamp != 0) {
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// check action switches
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if (manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) {
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success = false;
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Failure: RTL switch engaged");
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}
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}
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if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
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success = false;
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Failure: Kill switch engaged");
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}
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}
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if (manual_control_switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
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success = false;
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Failure: Landing gear switch set in UP position");
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}
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}
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}
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return success;
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}
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