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Create Trigger Action Enums and start taking trigger action params into account

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This commit is contained in:
Junwoo Hwang
2022-05-24 21:32:55 +02:00
parent 432e2439a2
commit 474540937c
4 changed files with 92 additions and 27 deletions
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msg/rc_channels.msg
+1 -3
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@@ -20,9 +20,7 @@ uint8 FUNCTION_PARAM_3_5 = 16
uint8 FUNCTION_KILLSWITCH = 17
uint8 FUNCTION_TRANSITION = 18
uint8 FUNCTION_GEAR = 19
uint8 FUNCTION_ARMSWITCH = 2
uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
uint8 FUNCTION_ARMSWITCH = 20
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
src/modules/rc_update/params.c
+12 -9
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@@ -1618,6 +1618,9 @@ PARAM_DEFINE_INT32(RC_TRIG1_CHAN, 0);
/**
* Which action the Trigger slot 1 triggers
*
* The flight mode enums follow the convention defined in the commander_state.msg uORB message.
* Everything else (16 ~ ) is a non-flight-mode actions
*
* @min -1
* @max 20
* @group Radio Trigger
@@ -1626,7 +1629,7 @@ PARAM_DEFINE_INT32(RC_TRIG1_CHAN, 0);
* @value 1 Altitude
* @value 2 Position
* @value 3 Mission
* @value 4 Hold
* @value 4 Loiter
* @value 5 Return
* @value 6 Acro
* @value 7 Offboard
@@ -1635,14 +1638,14 @@ PARAM_DEFINE_INT32(RC_TRIG1_CHAN, 0);
* @value 11 Land
* @value 12 Follow Me
* @value 13 Precision Land
* @value 14 Return
* @value 15 Loiter
* @value 16 Offboard
* @value 17 Killswitch
* @value 18 Armswitch
* @value 19 Transition
* @value 20 Gear
*
* @value 14 Orbit
* @value 15 Auto VTOL Takeoff
* @value 16 Killswitch
* @value 17 Arm
* @value 18 VTOL Transition
* @value 19 Gear
* @value 20 Photo
* @value 21 Video
*/
PARAM_DEFINE_INT32(RC_TRIG1_ACTION, 0);
src/modules/rc_update/rc_update.cpp
+45 -11
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@@ -64,7 +64,15 @@ static bool operator !=(const manual_control_switches_s &a, const manual_control
RCUpdate::RCUpdate() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
_trigger_slots_hysteresis{
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false},
systemlib::Hysteresis{false}
}
{
// initialize parameter handles
for (unsigned i = 0; i < RC_MAX_CHAN_COUNT; i++) {
@@ -96,13 +104,23 @@ RCUpdate::RCUpdate() :
// shifted by 1 because param name starts at 1
char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1);
_parameter_handles.rc_map_param[i] = param_find(name);
_trigger_channel_param_handles.rc_map_param[i] = param_find(name);
}
// Find and set RC Channel & Actions for each Trigger actions (1 ~ 6)
char param_name_buf[17] = {};
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_CHAN", trig_slot);
_trigger_channel_param_handles[trig_slot - 1] = param_find(param_name_buf);
snprintf(param_name_buf, sizeof(param_name_buf), "RC_TRIG_%d_ACTION", trig_slot);
_trigger_action_param_handles[trig_slot - 1] = param_find(param_name_buf);
}
}
rc_parameter_map_poll(true /* forced */);
parameters_updated();
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
//_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
}
RCUpdate::~RCUpdate()
@@ -602,9 +620,31 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
}
for (uint8_t trig_slot = 0; trig_slot < RC_TRIG_SLOT_COUNT; trig_slot++) {
// Use the Generic RC Switch / Button only when the RC is in use
if (_manual_control_setpoint_sub.update() &&
_manual_control_setpoint_sub.get().data_source == manual_control_setpoint_s::SOURCE_RC) {
_manual_control_setpoint_source_is_rc = true;
}
const bool is_btn = _param_rc_trig_btn_mask.get() && (1 << trig_slot);
// Go through the trigger slots and update the states
for (uint8_t trig_slot = 1; trig_slot <= RC_TRIG_SLOT_COUNT; trig_slot++) {
}
// Update the Generic Action states
const uint8_t trig1_chan = _param_rc_trig1_chan.get();
const uint8_t trig1_action = _param_rc_trig1_action.get();
// Trigger Channel is configured
if (trig1_chan > 0) {
const bool is_btn = _param_rc_trig_btn_mask.get() & (1 << 0);
if (is_btn) {
}
else {
// Is Switch
}
}
else if (_param_rc_map_flightmode_buttons.get() > 0) {
@@ -630,12 +670,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
break;
}
}
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
if (_button_pressed_hysteresis.get_state()) {
switches.mode_slot = _potential_button_press_slot;
}
}
switches.return_switch = get_rc_sw2pos_position(rc_channels_s::FUNCTION_RETURN, _param_rc_return_th.get());
src/modules/rc_update/rc_update.h
+34 -4
View File
@@ -48,6 +48,7 @@
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
@@ -69,6 +70,34 @@ namespace rc_update
// Number of Generic Trigger slots that can be configured
static constexpr uint8_t RC_TRIG_SLOT_COUNT = 6;
// Enum class translation of the RC_TRIG#_ACTION values
static constexpr enum RC_TRIGGER_ACTIONS {
RC_TRIGGER_ACTION_UNASSIGNED = -1,
// Commander States (defined in commander_state.msg)
RC_TRIGGER_ACTION_MANUAL_FLIGHTMODE = 0,
RC_TRIGGER_ACTION_ALTITUDE_FLIGHTMODE = 1,
RC_TRIGGER_ACTION_POSITION_FLIGHTMODE = 2,
RC_TRIGGER_ACTION_MISSION_FLIHGTMODE = 3,
RC_TRIGGER_ACTION_HOLD_FLIGHTMODE = 4,
RC_TRIGGER_ACTION_RETURN_FLIGHTMODE = 5,
RC_TRIGGER_ACTION_ACRO_FLIGHTMODE = 6,
RC_TRIGGER_ACTION_OFFBOARD_FLIGHTMODE = 7,
RC_TRIGGER_ACTION_STABILIZED_FLIGHTMODE = 8,
RC_TRIGGER_ACTION_TAKEOFF = 10,
RC_TRIGGER_ACTION_LAND = 11,
RC_TRIGGER_ACTION_FOLLOW_ME_FLIGHTMODE = 12,
RC_TRIGGER_ACTION_PRECISION_LAND_FLIGHTMODE = 13,
RC_TRIGGER_ACTION_ORBIT_FLIGHTMODE = 14,
RC_TRIGGER_ACTION_AUTO_VTOL_TAKEOFF = 15,
// Non- Commander State Actions
RC_TRIGGER_ACTION_KILLSWITCH = 16,
RC_TRIGGER_ACTION_ARM = 17,
RC_TRIGGER_ACTION_VTOL_TRANSITION = 18,
RC_TRIGGER_ACTION_GEAR = 19,
RC_TRIGGER_ACTION_PHOTO = 20,
RC_TRIGGER_ACTION_VIDEO = 21
};
/**
** class RCUpdate
*
@@ -164,9 +193,8 @@ private:
} _parameter_handles{};
uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::SubscriptionData<manual_control_setpoint_s> _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
@@ -193,8 +221,12 @@ private:
uint8_t _channel_count_previous{0};
uint8_t _input_source_previous{input_rc_s::RC_INPUT_SOURCE_UNKNOWN};
// Flag to indicate that RC input is being used for manual control (whether we can use generic action)
bool _manual_control_setpoint_source_is_rc{false};
// Hysteresis objects to track status of the each trigger slots for generic action
systemlib::Hysteresis _trigger_slots_hysteresis[RC_TRIG_SLOT_COUNT];
param_t _trigger_channel_param_handles[RC_TRIG_SLOT_COUNT] {};
param_t _trigger_action_param_handles[RC_TRIG_SLOT_COUNT] {};
systemlib::Hysteresis _rc_signal_lost_hysteresis{true};
@@ -212,8 +244,6 @@ private:
(ParamInt<px4::params::RC_MAP_FAILSAFE>) _param_rc_map_failsafe,
(ParamInt<px4::params::RC_MAP_FLTMODE>) _param_rc_map_fltmode,
(ParamInt<px4::params::RC_TRIG_BTN_MASK>) _param_rc_trig_btn_mask,
(ParamInt<px4::params::RC_TRIG1_CHAN>) _param_rc_trig1_chan,
(ParamInt<px4::params::RC_TRIG1_ACTION>) _param_rc_trig1_action,
(ParamInt<px4::params::RC_MAP_FLAPS>) _param_rc_map_flaps,
(ParamInt<px4::params::RC_MAP_RETURN_SW>) _param_rc_map_return_sw,
(ParamInt<px4::params::RC_MAP_LOITER_SW>) _param_rc_map_loiter_sw,