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manual_control: add hysteresis for arm button back

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This commit is contained in:
Julian Oes
2021-06-16 09:09:08 +02:00
committed by Matthias Grob
parent 75209a7552
commit 60de330f18
2 changed files with 5 additions and 1 deletions
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src/modules/manual_control/ManualControl.cpp
+4 -1
View File
@@ -82,6 +82,7 @@ void ManualControl::Run()
_stick_arm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_stick_disarm_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_button_hysteresis.set_hysteresis_time_from(false, _param_rc_arm_hyst.get() * 1_ms);
_selector.set_rc_in_mode(_param_com_rc_in_mode.get());
_selector.set_timeout(_param_com_rc_loss_t.get() * 1_s);
@@ -176,7 +177,9 @@ void ManualControl::Run()
if (switches.arm_switch != _previous_switches.arm_switch) {
if (_param_com_arm_swisbtn.get()) {
// Arming button
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (_button_hysteresis.get_state()) {
send_arm_command(ArmingAction::TOGGLE, ArmingOrigin::BUTTON);
}
src/modules/manual_control/ManualControl.hpp
+1
View File
@@ -152,6 +152,7 @@ private:
systemlib::Hysteresis _stick_arm_hysteresis{false};
systemlib::Hysteresis _stick_disarm_hysteresis{false};
systemlib::Hysteresis _button_hysteresis{false};
ManualControlSelector _selector;
bool _published_invalid_once{false};