input_rc.h
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/****************************************************************************
*
* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file input_rc.h
* @author Beat Küng <beat-kueng@gmx.net>
*
*/
#pragma once
#include "input.h"
#include <uORB/topics/manual_control_setpoint.h>
namespace vmount
{
class InputMavlinkROI;
class InputMavlinkCmdMount;
/**
** class InputRC
* RC input class using manual_control_setpoint topic
*/
class InputRC : public InputBase
{
public:
/**
* @param aux_channel_roll which aux channel to use for roll (set to 0 to use a fixed angle of 0)
* @param aux_channel_pitch
* @param aux_channel_yaw
*/
InputRC(int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw);
virtual ~InputRC();
virtual void print_status();
protected:
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
virtual int initialize();
/**
* @return true if there was a change in control data
*/
virtual bool _read_control_data_from_subscription(ControlData &control_data, bool already_active);
int _get_subscription_fd() const { return _manual_control_setpoint_sub; }
float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);
private:
int _aux_channels[3];
int _manual_control_setpoint_sub = -1;
bool _first_time = true;
float _last_set_aux_values[3] = {};
};
} /* namespace vmount */