Commander: use parameters directly in ManualControl

src/modules/commander/Commander.cpp

@@ -2096,11 +2096,9 @@ Commander::run()
 		}
 
 		// abort autonomous mode and switch to position mode if sticks are moved significantly
-		if ((_param_rc_override.get() != 0)
+		if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
-		    && (_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
 		    && !in_low_battery_failsafe && !_geofence_warning_action_on
-		    && _manual_control.wantsOverride(_param_rc_override.get(), _param_com_rc_stick_ov.get(), _vehicle_control_mode,
+		    && _manual_control.wantsOverride(_vehicle_control_mode, !_status.rc_signal_lost)) {
-						     !_status.rc_signal_lost)) {
 			if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
 						  &_internal_state) == TRANSITION_CHANGED) {
 				tune_positive(true);

src/modules/commander/Commander.hpp

@@ -245,10 +245,8 @@ private:
 		(ParamInt<px4::params::COM_FLIGHT_UUID>) _param_flight_uuid,
 		(ParamInt<px4::params::COM_TAKEOFF_ACT>) _param_takeoff_finished_action,
 
-		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
 		(ParamInt<px4::params::COM_RC_IN_MODE>) _param_rc_in_off,
 		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst,
-		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
 
 		(ParamInt<px4::params::COM_FLTMODE1>) _param_fltmode_1,
 		(ParamInt<px4::params::COM_FLTMODE2>) _param_fltmode_2,
@@ -361,7 +359,7 @@ private:
 	manual_control_setpoint_s _last_manual_control_setpoint{};
 	manual_control_switches_s _manual_control_switches{};
 	manual_control_switches_s _last_manual_control_switches{};
-	ManualControl _manual_control;
+	ManualControl _manual_control{this};
 	hrt_abstime	_rc_signal_lost_timestamp{0};		///< Time at which the RC reception was lost
 	int32_t		_flight_mode_slots[manual_control_switches_s::MODE_SLOT_NUM] {};
 	uint8_t		_last_manual_control_switches_arm_switch{manual_control_switches_s::SWITCH_POS_NONE};

src/modules/commander/ManualControl.cpp

@@ -56,24 +56,23 @@ void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
 	_manual_control_setpoint = manual_control_setpoint;
 }
 
-bool ManualControl::wantsOverride(const int param_rc_override, const float param_com_rc_stick_ov,
+bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
-				  const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
 {
-	const bool override_auto_mode = (param_rc_override & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
+	const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
 					&& vehicle_control_mode.flag_control_auto_enabled;
 
-	const bool override_offboard_mode = (param_rc_override & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
+	const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
 					    && vehicle_control_mode.flag_control_offboard_enabled;
 
 	if (rc_available && (override_auto_mode || override_offboard_mode)) {
-		const float minimum_stick_change = .01f * param_com_rc_stick_ov;
+		const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();
 
 		const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
 				       || (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
 				       || (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
 		const bool throttle_moved =
 			(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
-		const bool use_throttle = !(param_rc_override & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
+		const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
 
 		if (rpy_moved || (use_throttle && throttle_moved)) {
 			return true;

src/modules/commander/ManualControl.hpp

@@ -41,19 +41,20 @@
 
 #pragma once
 
+#include <px4_platform_common/module_params.h>
+
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/vehicle_control_mode.h>
 
-class ManualControl
+class ManualControl : ModuleParams
 {
 public:
-	ManualControl() = default;
+	ManualControl(ModuleParams *parent) : ModuleParams(parent) {};
-	~ManualControl() = default;
+	~ManualControl() override = default;
 
 	void update();
-	bool wantsOverride(const int param_rc_override, const float param_com_rc_stick_ov,
+	bool wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available);
-			   const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available);
 
 //private:
 	void process(manual_control_setpoint_s &manual_control_setpoint);
@@ -61,4 +62,9 @@ public:
 	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{};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
+		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov
+	)
 };