ManualControl.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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 ManualControl.hpp
*
* @brief Logic for handling RC or Joystick input
*
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include <lib/hysteresis/hysteresis.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
class ManualControl : ModuleParams
{
public:
ManualControl(ModuleParams *parent) : ModuleParams(parent) {};
~ManualControl() override = default;
void setRCAllowed(const bool rc_allowed) { _rc_allowed = rc_allowed; }
/**
* Check for manual control input changes and process them
* @return true if there was new data
*/
bool update();
bool isRCAvailable() const { return _rc_available; }
bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode);
bool wantsDisarm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
manual_control_switches_s &manual_control_switches, const bool landed);
bool wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
const manual_control_switches_s &manual_control_switches, const bool landed);
bool isThrottleLow() const { return _last_manual_control_setpoint.z < 0.1f; }
bool isThrottleAboveCenter() const { return _last_manual_control_setpoint.z > 0.6f; }
hrt_abstime getLastRcTimestamp() const { return _last_manual_control_setpoint.timestamp; }
private:
void updateParams() override;
void process(const manual_control_setpoint_s &manual_control_setpoint);
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{};
manual_control_setpoint_s _last_manual_control_setpoint{};
// Availability
bool _rc_allowed{false};
bool _rc_available{false};
// Arming/disarming
systemlib::Hysteresis _stick_disarm_hysteresis{false};
systemlib::Hysteresis _stick_arm_hysteresis{false};
uint8_t _last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
(ParamBool<px4::params::COM_ARM_SWISBTN>) _param_com_arm_swisbtn,
(ParamBool<px4::params::COM_REARM_GRACE>) _param_com_rearm_grace,
(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
)
};