This adds a selector class with unit tests.
The idea is to have a valid flag in manual_control_septoint and set that
according to the selection and/or timeout of manual_control_inputs.
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* This fix is necessary because usually uORB structs get initialized with
all zeros and then get filled with the fields that are actually in use.
* The number 0 for the mode slot was already commanding to switch to the
mode in slot one even though for example the joystick input via mavlink
does not use this mechanism at all.
Matthias Grob
Julian Oes
Daniel Agar
Beat Küng
Roman
TSC21
Andreas Antener
Lorenz Meier
Lorenz Meier
Mark Whitehorn
Stefan
Eddy Scott
Thomas Gubler