c4473bdab7
ManualControl: clean up arm/disarm gesture
3 years ago
48ed350b25
ManualControlSelector: simplification refactoring
...
- clang tidy did't like {bool} == true in a condition
- setpoint_from_input() got small enough ot just put in line
3 years ago
cc2ec09659
ManualControl: fix arm button logic during testing
...
The latching logic has to be different than for the arm switch
this difference got lost in the rewrite of the old obfuscated
arming trigger logic.
3 years ago
0901b73f50
ManualControlSelector: rename functions and validate chosen inputs all the time
3 years ago
28a29ad050
ManualControlSelector: revamp logic to switch when configuration is changed
3 years ago
05946ff0c6
mavlink_receiver: remove unused start_helper declaration
3 years ago
7a2ef4a917
Commander: don't publish RC_IN_MODE to vehicle_status
...
This just contains the content of the parameter which
is redundant and results in multiple sources of truth.
3 years ago
fff2de43a5
commander_params: update description based on ManualControlSelector
3 years ago
396bab52ad
ManualControlSelector: refactor selection to chose based on a single condition
3 years ago
1bd786c71a
ManualControlSelector: don't invalidate existing setpoint with other invalid input
3 years ago
e15f6b27f2
ManualControlSelector: copy manual_control_input struct instead of each individual field
3 years ago
63ddb050ef
ManualControlSelector: refactor timeout calculation to be consistent
3 years ago
2528e8c572
ManualControl: correct calculation of dt in seconds
3 years ago
12bb2de175
state_machine_helper: rever explicitly handling unavaialble mission
...
It was already handled by the existing condition.
3 years ago
4dc165efd0
Commander: don't retry to reach the desired_main_state if we reached it
3 years ago
d48302c841
Commander: send out manual control lost event
3 years ago
93bed7f670
vehicle_command: shorten arming action/origin enum names
3 years ago
709c909929
commander_params: correct RC override description
3 years ago
b3a5072de5
commander/manual_control: use msg enum for params
...
Instead of using a private enum class we should define the enum in the
vehicle_command message and then use it consistently.
3 years ago
f1b1068824
commander: remove unused mode/main_state methods
...
With the previous changes these seem no longer required.
3 years ago
42af44700b
mc_rate_control: always allow landing gear control
...
Except of course when landed and we try to put it up.
3 years ago
486a4b0118
mavlink: reduce calls to hrt_absolute_time
3 years ago
454aa611ae
manual_control: add missing 7
3 years ago
2c0fc686a7
manual_control: don't accept outdated input
3 years ago
4d00a56230
manual_control: method can be static
3 years ago
6027398459
manual_control: handle invalid rc_in_mode
3 years ago
50cca204d8
manual_control: add check for instance
3 years ago
963d15eacc
manual_control: use correct sysid/compid
3 years ago
cfdb53a4d8
manual_control: don't switch gear on first init
...
This will ignore the first transition from NONE to something.
This matches the behaviour that existed before.
3 years ago
60de330f18
manual_control: add hysteresis for arm button back
3 years ago
75209a7552
manual_control: address review comments
3 years ago
942eb23248
ManualControlSelector: remove commented stick difference filter draft
3 years ago
11a46d3d27
ManualControlSelectorTest: add constantly outdated samples case
...
Reviewing the code I saw this case arising from the order things
get checked.
3 years ago
39282a795f
manual_control: fix tests
3 years ago
53bd254502
commander: add valid check
...
Better checking once too much than once too little.
3 years ago
efd8757fda
manual_control: handle NAN
3 years ago
374c9f38a7
manual_control: use constrain() instead
3 years ago
2a41ade223
manual_control: update first, get diff after
...
Not sure why I had this the wrong way round.
3 years ago
d0fea93d72
manual_control: add reset to diff
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This should prevent triggering user override right after RC re-appears.
3 years ago
93c505b163
commander: force arming is not an option from RC
3 years ago
4a5ef1c81e
ROMFS: whitespace
3 years ago
6a6b8d49fc
msg: re-use manual_control_input in setpoint
...
This way we avoid duplication between manual_control_input and
manual_control_setpoint.
3 years ago
baf81abbab
msg: whitespace only
3 years ago
14cfad74bf
manual_control: remove leftover debug statements
3 years ago
5ae76bdc17
commander: fix potentially wrong user message
3 years ago
bd0c1014d9
manual_control: support arming button
...
The arming button required some refactoring in order to support to
toggle arm/disarm using the vehicle_command. Otherwise manual_control
would have to subscribe to the arming topic and we would spread out the
logic again, and risk race conditions.
3 years ago
9cbfa2ca95
manual_control: ORBIT and PRECLAND not supported
...
ORBIT and PRECLAND are not actually possible on the flight mode switch.
3 years ago
2e9edfcd89
commander: only override according to param
...
This got lost in the refactor earlier.
3 years ago
56b2b81600
manual_control: use filter to check user override
...
Instead of only looking at the diff between two RC samples to decide
whether a user wants to override, we now look at the filtered diff over
one second. This should be more robust to RC sent at various or varying
rates.
3 years ago
97d01f200e
commander: move manual_control and switches out
...
This moves the remaining handling of the manual control stuff out
of commander. All communication between manual control now goes through
vehicle commands, and the landing gear topic.
3 years ago
Matthias Grob
Julian Oes