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Bring back RC throttle override with a parameter to disable it

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This commit is contained in:
Julian Kent
2020-11-19 11:10:10 +01:00
committed by Matthias Grob
parent 2a47583be5
commit aef448b267
3 changed files with 13 additions and 8 deletions
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src/modules/commander/Commander.cpp
+7 -3
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@@ -2117,10 +2117,14 @@ Commander::run()
if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) { if ((override_auto_mode || override_offboard_mode) && !in_low_battery_failsafe && !_geofence_warning_action_on) {
const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get(); const float minimum_stick_deflection = 0.01f * _param_com_rc_stick_ov.get();
if (!_status.rc_signal_lost && const bool rpy_deflected = (fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) ||
((fabsf(_manual_control_setpoint.x) > minimum_stick_deflection) || (fabsf(_manual_control_setpoint.y) > minimum_stick_deflection)
(fabsf(_manual_control_setpoint.y) > minimum_stick_deflection))) { || (fabsf(_manual_control_setpoint.r) > minimum_stick_deflection);
const bool throttle_deflected = fabsf(_manual_control_setpoint.z - 0.5f) * 2.f > minimum_stick_deflection;
const bool use_throttle = !(_param_rc_override.get() & OVERRIDE_IGNORE_THROTTLE_BIT);
if (!_status.rc_signal_lost &&
(rpy_deflected || (use_throttle && throttle_deflected))) {
if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags, if (main_state_transition(_status, commander_state_s::MAIN_STATE_POSCTL, _status_flags,
&_internal_state) == TRANSITION_CHANGED) { &_internal_state) == TRANSITION_CHANGED) {
tune_positive(true); tune_positive(true);
src/modules/commander/Commander.hpp
+2 -2
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@@ -287,9 +287,9 @@ private:
}; };
enum OverrideMode { enum OverrideMode {
OVERRIDE_DISABLED = 0,
OVERRIDE_AUTO_MODE_BIT = (1 << 0), OVERRIDE_AUTO_MODE_BIT = (1 << 0),
OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1) OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
}; };
/* Decouple update interval and hysteresis counters, all depends on intervals */ /* Decouple update interval and hysteresis counters, all depends on intervals */
src/modules/commander/commander_params.c
+4 -3
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@@ -637,9 +637,10 @@ PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);
* Note: Only has an effect on multicopters, and VTOLs in multicopter mode. * Note: Only has an effect on multicopters, and VTOLs in multicopter mode.
* *
* @min 0 * @min 0
* @max 3 * @max 7
* @bit 0 Enable override during auto modes (except for in critical battery reaction) * @bit 0 Enable override during auto modes (except for in critical battery reaction)
* @bit 1 Enable override during offboard mode * @bit 1 Enable override during offboard mode
* @bit 2 Ignore throttle stick
* @group Commander * @group Commander
*/ */
PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1); PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
@@ -647,8 +648,8 @@ PARAM_DEFINE_INT32(COM_RC_OVERRIDE, 1);
/** /**
* RC stick override threshold * RC stick override threshold
* *
* If COM_RC_OVERRIDE is enabled and the joystick input controlling the horizontally axis (right stick for RC in mode 2) * If COM_RC_OVERRIDE is enabled and the joystick input is moved more than this threshold from the center
* is moved more than this threshold from the center the autopilot switches to position mode and the pilot takes over control. * the autopilot switches to position mode and the pilot takes over control.
* *
* @group Commander * @group Commander
* @unit % * @unit %