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ManualControl: remove unused variables and renaming

This commit is contained in:
Matthias Grob 2021-10-22 11:02:25 +02:00
parent e73e6a490d
commit af54ac7cdb
4 changed files with 7 additions and 13 deletions
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6
msg/manual_control_setpoint.msg
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@ -1,10 +1,6 @@
uint64 timestamp # time since system start (microseconds)
bool valid
px4/manual_control_input chosen_input
bool valid
bool arm_gesture
bool disarm_gesture
bool user_override

2
src/modules/commander/commander_params.c
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@ -34,7 +34,7 @@
/**
* @file commander_params.c
*
* Parameters defined by the sensors task.
* Parameters definition for Commander.
*
* @author Lorenz Meier <lorenz@px4.io>
* @author Thomas Gubler <thomas@px4.io>

8
src/modules/manual_control/ManualControl.cpp
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@ -269,20 +269,20 @@ void ManualControl::processStickArming(const manual_control_input_s &input)
{
// Arm gesture
const bool right_stick_centered = (fabsf(input.x) < 0.1f) && (fabsf(input.y) < 0.1f);
const bool stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
const bool left_stick_lower_right = (input.z < 0.1f) && (input.r > 0.9f);
const bool previous_stick_arm_hysteresis = _stick_arm_hysteresis.get_state();
_stick_arm_hysteresis.set_state_and_update(stick_lower_right && right_stick_centered, input.timestamp);
_stick_arm_hysteresis.set_state_and_update(left_stick_lower_right && right_stick_centered, input.timestamp);
if (!previous_stick_arm_hysteresis && _stick_arm_hysteresis.get_state()) {
sendActionRequest(action_request_s::ACTION_ARM, action_request_s::SOURCE_RC_STICK_GESTURE);
}
// Disarm gesture
const bool stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
const bool left_stick_lower_left = (input.z < 0.1f) && (input.r < -0.9f);
const bool previous_stick_disarm_hysteresis = _stick_disarm_hysteresis.get_state();
_stick_disarm_hysteresis.set_state_and_update(stick_lower_left && right_stick_centered, input.timestamp);
_stick_disarm_hysteresis.set_state_and_update(left_stick_lower_left && right_stick_centered, input.timestamp);
if (!previous_stick_disarm_hysteresis && _stick_disarm_hysteresis.get_state()) {
sendActionRequest(action_request_s::ACTION_DISARM, action_request_s::SOURCE_RC_STICK_GESTURE);

4
src/modules/manual_control/ManualControl.hpp
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@ -166,9 +166,7 @@ private:
(ParamInt<px4::params::COM_FLTMODE3>) _param_fltmode_3,
(ParamInt<px4::params::COM_FLTMODE4>) _param_fltmode_4,
(ParamInt<px4::params::COM_FLTMODE5>) _param_fltmode_5,
(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6,
(ParamInt<px4::params::MAV_COMP_ID>) _param_mav_comp_id,
(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id
(ParamInt<px4::params::COM_FLTMODE6>) _param_fltmode_6
)
};
} // namespace manual_control