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ManualControl: fix arm button use case

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This commit is contained in:
Matthias Grob
2021-02-17 15:49:45 +01:00
parent 37ea78a7ff
commit a796903e21
1 changed files with 8 additions and 8 deletions
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src/modules/commander/ManualControl.cpp
+8 -8
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@@ -115,9 +115,10 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
const bool manual_thrust_mode = vehicle_control_mode.flag_control_manual_enabled const bool manual_thrust_mode = vehicle_control_mode.flag_control_manual_enabled
&& !vehicle_control_mode.flag_control_climb_rate_enabled; && !vehicle_control_mode.flag_control_climb_rate_enabled;
bool disarm_trigger = _stick_disarm_hysteresis.get_state(); const bool last_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
_stick_disarm_hysteresis.set_state_and_update(true, hrt_absolute_time()); _stick_disarm_hysteresis.set_state_and_update(true, hrt_absolute_time());
disarm_trigger = !disarm_trigger && _stick_disarm_hysteresis.get_state(); const bool disarm_trigger = !last_disarm_hysteresis && _stick_disarm_hysteresis.get_state()
&& !_stick_arm_hysteresis.get_state();
const bool rc_wants_disarm = (disarm_trigger) || arm_switch_to_disarm_transition; const bool rc_wants_disarm = (disarm_trigger) || arm_switch_to_disarm_transition;
@@ -125,8 +126,7 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
ret = true; ret = true;
} }
} else if (!(_param_arm_switch_is_button.get() } else if (!arm_button_pressed) {
&& manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)) {
_stick_disarm_hysteresis.set_state_and_update(false, hrt_absolute_time()); _stick_disarm_hysteresis.set_state_and_update(false, hrt_absolute_time());
} }
@@ -156,16 +156,16 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
&& (vehicle_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF) && (vehicle_status.rc_input_mode != vehicle_status_s::RC_IN_MODE_OFF)
&& (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) { && (stick_in_lower_right || arm_button_pressed || arm_switch_to_arm_transition)) {
bool arm_trigger = _stick_arm_hysteresis.get_state(); const bool last_arm_hysteresis = _stick_arm_hysteresis.get_state();
_stick_arm_hysteresis.set_state_and_update(true, hrt_absolute_time()); _stick_arm_hysteresis.set_state_and_update(true, hrt_absolute_time());
arm_trigger = !arm_trigger && _stick_arm_hysteresis.get_state(); const bool arm_trigger = !last_arm_hysteresis && _stick_arm_hysteresis.get_state()
&& !_stick_disarm_hysteresis.get_state();
if (arm_trigger || arm_switch_to_arm_transition) { if (arm_trigger || arm_switch_to_arm_transition) {
ret = true; ret = true;
} }
} else if (!(_param_arm_switch_is_button.get() } else if (!arm_button_pressed) {
&& manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON)) {
_stick_arm_hysteresis.set_state_and_update(false, hrt_absolute_time()); _stick_arm_hysteresis.set_state_and_update(false, hrt_absolute_time());
} }