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Refactor mode button changes

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This commit is contained in:
Matthias Grob
2021-08-31 09:02:53 +02:00
parent 05d40f40d4
commit d1f1e02afb
4 changed files with 78 additions and 81 deletions
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msg/rc_channels.msg
+34 -33
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@@ -1,38 +1,39 @@
uint64 timestamp # time since system start (microseconds) uint64 timestamp # time since system start (microseconds)
uint8 FUNCTION_THROTTLE = 0 uint8 FUNCTION_THROTTLE = 0
uint8 FUNCTION_ROLL = 1 uint8 FUNCTION_ROLL = 1
uint8 FUNCTION_PITCH = 2 uint8 FUNCTION_PITCH = 2
uint8 FUNCTION_YAW = 3 uint8 FUNCTION_YAW = 3
uint8 FUNCTION_MODE = 4 uint8 FUNCTION_MODE = 4
uint8 FUNCTION_RETURN = 5 uint8 FUNCTION_RETURN = 5
uint8 FUNCTION_POSCTL = 6 uint8 FUNCTION_POSCTL = 6
uint8 FUNCTION_LOITER = 7 uint8 FUNCTION_LOITER = 7
uint8 FUNCTION_OFFBOARD = 8 uint8 FUNCTION_OFFBOARD = 8
uint8 FUNCTION_ACRO = 9 uint8 FUNCTION_ACRO = 9
uint8 FUNCTION_FLAPS = 10 uint8 FUNCTION_FLAPS = 10
uint8 FUNCTION_AUX_1 = 11 uint8 FUNCTION_AUX_1 = 11
uint8 FUNCTION_AUX_2 = 12 uint8 FUNCTION_AUX_2 = 12
uint8 FUNCTION_AUX_3 = 13 uint8 FUNCTION_AUX_3 = 13
uint8 FUNCTION_AUX_4 = 14 uint8 FUNCTION_AUX_4 = 14
uint8 FUNCTION_AUX_5 = 15 uint8 FUNCTION_AUX_5 = 15
uint8 FUNCTION_PARAM_1 = 16 uint8 FUNCTION_PARAM_1 = 16
uint8 FUNCTION_PARAM_2 = 17 uint8 FUNCTION_PARAM_2 = 17
uint8 FUNCTION_PARAM_3_5 = 18 uint8 FUNCTION_PARAM_3_5 = 18
uint8 FUNCTION_KILLSWITCH = 19 uint8 FUNCTION_KILLSWITCH = 19
uint8 FUNCTION_TRANSITION = 20 uint8 FUNCTION_TRANSITION = 20
uint8 FUNCTION_GEAR = 21 uint8 FUNCTION_GEAR = 21
uint8 FUNCTION_ARMSWITCH = 22 uint8 FUNCTION_ARMSWITCH = 22
uint8 FUNCTION_STAB = 23 uint8 FUNCTION_STAB = 23
uint8 FUNCTION_AUX_6 = 24 uint8 FUNCTION_AUX_6 = 24
uint8 FUNCTION_MAN = 25 uint8 FUNCTION_MAN = 25
uint8 FUNCTION_FLTBTN_SLOT_1=26 uint8 FUNCTION_FLTBTN_SLOT_1 = 26
uint8 FUNCTION_FLTBTN_SLOT_2=27 uint8 FUNCTION_FLTBTN_SLOT_2 = 27
uint8 FUNCTION_FLTBTN_SLOT_3=28 uint8 FUNCTION_FLTBTN_SLOT_3 = 28
uint8 FUNCTION_FLTBTN_SLOT_4=39 uint8 FUNCTION_FLTBTN_SLOT_4 = 39
uint8 FUNCTION_FLTBTN_SLOT_5=30 uint8 FUNCTION_FLTBTN_SLOT_5 = 30
uint8 FUNCTION_FLTBTN_SLOT_6=31 uint8 FUNCTION_FLTBTN_SLOT_6 = 31
uint8 FUNCTION_FLTBTN_NUM_SLOTS=6
uint8 FUNCTION_FLTBTN_SLOT_COUNT = 6
uint64 timestamp_last_valid # Timestamp of last valid RC signal uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1) float32[18] channels # Scaled to -1..1 (throttle: 0..1)
src/modules/commander/ManualControl.cpp
+3 -3
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@@ -179,10 +179,10 @@ bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode,
bool ManualControl::isModeInitializationRequired() bool ManualControl::isModeInitializationRequired()
{ {
const bool isMavlink = _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC; const bool is_mavlink = _manual_control_setpoint.data_source > manual_control_setpoint_s::SOURCE_RC;
const bool rc_uses_toggle_buttons = !isMavlink && _param_rc_map_flightmode_buttons.get() > 0; const bool rc_uses_toggle_buttons = _param_rc_map_flightmode_buttons.get() > 0;
return (isMavlink || rc_uses_toggle_buttons); return (is_mavlink || rc_uses_toggle_buttons);
} }
void ManualControl::updateParams() void ManualControl::updateParams()
src/modules/rc_update/params.c
+23 -25
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@@ -1702,37 +1702,35 @@ PARAM_DEFINE_INT32(RC_MAP_STAB_SW, 0);
PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0); PARAM_DEFINE_INT32(RC_MAP_MAN_SW, 0);
/** /**
* Enables changing flight modes with multiple toggle buttons. * Button flight mode selection
* *
* This bitmask allows to specify multiple channels for changing flight modes. * This bitmask allows to specify multiple channels for changing flight modes using
* Each channel is assigned to a flight mode slot ((lowest channel = slot 1), * momentary buttons. Each channel is assigned to a mode slot ((lowest channel = slot 1).
* the behavior of each flight mode is defined by the COM_FLTMODE1,COM_FLTMODE2,... * The resulting modes for each slot X is defined by the COM_FLTMODEX parameters.
* parameters.
* The functionality can be used only if RC_MAP_FLTMODE is disabled. * The functionality can be used only if RC_MAP_FLTMODE is disabled.
* *
* The maximum number of available slots is 6. * The maximum number of available slots and hence bits set in the mask is 6.
* @min 0 * @min 0
* @max 258048 * @max 258048
* @group Radio Switches * @group Radio Switches
* @bit 0 Enable Channel 1 as toggle button * @bit 0 Mask Channel 1 as a mode button
* @bit 1 Enable Channel 2 as toggle button * @bit 1 Mask Channel 2 as a mode button
* @bit 2 Enable Channel 3 as toggle button * @bit 2 Mask Channel 3 as a mode button
* @bit 3 Enable Channel 4 as toggle button * @bit 3 Mask Channel 4 as a mode button
* @bit 4 Enable Channel 5 as toggle button * @bit 4 Mask Channel 5 as a mode button
* @bit 5 Enable Channel 6 as toggle button * @bit 5 Mask Channel 6 as a mode button
* @bit 6 Enable Channel 7 as toggle button * @bit 6 Mask Channel 7 as a mode button
* @bit 7 Enable Channel 8 as toggle button * @bit 7 Mask Channel 8 as a mode button
* @bit 8 Enable Channel 9 as toggle button * @bit 8 Mask Channel 9 as a mode button
* @bit 9 Enable Channel 10 as toggle button * @bit 9 Mask Channel 10 as a mode button
* @bit 10 Enable Channel 11 as toggle button * @bit 10 Mask Channel 11 as a mode button
* @bit 11 Enable Channel 12 as toggle button * @bit 11 Mask Channel 12 as a mode button
* @bit 12 Enable Channel 13 as toggle button * @bit 12 Mask Channel 13 as a mode button
* @bit 13 Enable Channel 14 as toggle button * @bit 13 Mask Channel 14 as a mode button
* @bit 14 Enable Channel 15 as toggle button * @bit 14 Mask Channel 15 as a mode button
* @bit 15 Enable Channel 16 as toggle button * @bit 15 Mask Channel 16 as a mode button
* @bit 16 Enable Channel 17 as toggle button * @bit 16 Mask Channel 17 as a mode button
* @bit 17 Enable Channel 18 as toggle button * @bit 17 Mask Channel 18 as a mode button
*
*/ */
PARAM_DEFINE_INT32(RC_MAP_FLTM_BTN, 0); PARAM_DEFINE_INT32(RC_MAP_FLTM_BTN, 0);
src/modules/rc_update/rc_update.cpp
+18 -20
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@@ -103,8 +103,9 @@ RCUpdate::RCUpdate() :
} }
rc_parameter_map_poll(true /* forced */); rc_parameter_map_poll(true /* forced */);
parameters_updated(); parameters_updated();
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
} }
RCUpdate::~RCUpdate() RCUpdate::~RCUpdate()
@@ -283,31 +284,31 @@ RCUpdate::map_flight_modes_buttons()
{ {
static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + manual_control_switches_s::MODE_SLOT_NUM <= sizeof( static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + manual_control_switches_s::MODE_SLOT_NUM <= sizeof(
_rc.function) / sizeof(_rc.function[0]), "Unexpected number of RC functions"); _rc.function) / sizeof(_rc.function[0]), "Unexpected number of RC functions");
static_assert(rc_channels_s::FUNCTION_FLTBTN_NUM_SLOTS == manual_control_switches_s::MODE_SLOT_NUM, static_assert(rc_channels_s::FUNCTION_FLTBTN_SLOT_COUNT == manual_control_switches_s::MODE_SLOT_NUM,
"Unexpected number of Flight Modes slots"); "Unexpected number of Flight Modes slots");
// Reset all the slots to -1 // Reset all the slots to -1
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) { for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index] = -1; _rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = -1;
} }
// If the functionality is disabled we can early return, no need to map channels // If the functionality is disabled we don't need to map channels
int buttons_rc_channels = _param_rc_map_flightmode_buttons.get(); const int flightmode_buttons = _param_rc_map_flightmode_buttons.get();
if (buttons_rc_channels == 0) { if (flightmode_buttons == 0) {
return; return;
} }
uint8_t slot_counter = 0; uint8_t slot = 0;
for (uint8_t index = 0; index < RC_MAX_CHAN_COUNT; index++) { for (uint8_t channel = 0; channel < RC_MAX_CHAN_COUNT; channel++) {
if (buttons_rc_channels & (1 << index)) { if (flightmode_buttons & (1 << channel)) {
PX4_DEBUG("Slot %d assigned to channel %d", slot_counter + 1, index); PX4_DEBUG("Slot %d assigned to channel %d", slot + 1, channel);
_rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot_counter] = index; _rc.function[rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot] = channel;
slot_counter++; slot++;
} }
if (slot_counter == manual_control_switches_s::MODE_SLOT_NUM) { if (slot >= manual_control_switches_s::MODE_SLOT_NUM) {
// we have filled all the available slots // we have filled all the available slots
break; break;
} }
@@ -468,9 +469,7 @@ void RCUpdate::Run()
/* /*
* some RC systems glitch after a reboot, we should ignore the first 100ms of regained signal * some RC systems glitch after a reboot, we should ignore the first 100ms of regained signal
* as the glitch might be interpreted as a commanded stick action or a flight mode switch * as the glitch might be interpreted as a commanded stick action or a flight mode switch
*
*/ */
_rc_signal_lost_hysteresis.set_hysteresis_time_from(true, 100_ms); _rc_signal_lost_hysteresis.set_hysteresis_time_from(true, 100_ms);
_rc_signal_lost_hysteresis.set_state_and_update(signal_lost, hrt_absolute_time()); _rc_signal_lost_hysteresis.set_state_and_update(signal_lost, hrt_absolute_time());
@@ -609,15 +608,15 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE; switches.mode_slot = manual_control_switches_s::MODE_SLOT_NONE;
bool is_consistent_button_press = false; bool is_consistent_button_press = false;
for (uint8_t index = 0; index < manual_control_switches_s::MODE_SLOT_NUM; index++) { for (uint8_t slot = 0; slot < manual_control_switches_s::MODE_SLOT_NUM; slot++) {
// If the slot is not in use (-1), get_rc_value() will return 0 // If the slot is not in use (-1), get_rc_value() will return 0
float value = get_rc_value(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + index, -1.0, 1.0); float value = get_rc_value(rc_channels_s::FUNCTION_FLTBTN_SLOT_1 + slot, -1.0, 1.0);
// The range goes from -1 to 1, checking that value is greater than 0.5f // The range goes from -1 to 1, checking that value is greater than 0.5f
// corresponds to check that the signal is above 75% of the overall range. // corresponds to check that the signal is above 75% of the overall range.
if (value > 0.5f) { if (value > 0.5f) {
const uint8_t current_button_press_slot = index + 1; const uint8_t current_button_press_slot = slot + 1;
// The same button stays pressed consistently // The same button stays pressed consistently
if (current_button_press_slot == _potential_button_press_slot) { if (current_button_press_slot == _potential_button_press_slot) {
@@ -629,7 +628,6 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
} }
} }
_button_pressed_hysteresis.set_hysteresis_time_from(false, 50_ms);
_button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time()); _button_pressed_hysteresis.set_state_and_update(is_consistent_button_press, hrt_absolute_time());
if (_button_pressed_hysteresis.get_state()) { if (_button_pressed_hysteresis.get_state()) {