manual_control_setpoint split switches into new manual_control_switches

msg/CMakeLists.txt

@@ -70,6 +70,7 @@ set(msg_files
 	led_control.msg
 	log_message.msg
 	manual_control_setpoint.msg
+	manual_control_switches.msg
 	mavlink_log.msg
 	mission.msg
 	mission_result.msg

msg/manual_control_setpoint.msg

@@ -1,23 +1,13 @@
 uint64 timestamp			# time since system start (microseconds)
 
-uint8 SWITCH_POS_NONE = 0		# switch is not mapped
-uint8 SWITCH_POS_ON = 1		# switch activated (value = 1)
-uint8 SWITCH_POS_MIDDLE = 2		# middle position (value = 0)
-uint8 SWITCH_POS_OFF = 3		# switch not activated (value = -1)
-int8 MODE_SLOT_NONE = -1		# no mode slot assigned
-int8 MODE_SLOT_1 = 0			# mode slot 1 selected
-int8 MODE_SLOT_2 = 1			# mode slot 2 selected
-int8 MODE_SLOT_3 = 2			# mode slot 3 selected
-int8 MODE_SLOT_4 = 3			# mode slot 4 selected
-int8 MODE_SLOT_5 = 4			# mode slot 5 selected
-int8 MODE_SLOT_6 = 5			# mode slot 6 selected
-int8 MODE_SLOT_MAX = 6			# number of slots plus one
 uint8 SOURCE_RC = 1			# radio control
 uint8 SOURCE_MAVLINK_0 = 2		# mavlink instance 0
 uint8 SOURCE_MAVLINK_1 = 3		# mavlink instance 1
 uint8 SOURCE_MAVLINK_2 = 4		# mavlink instance 2
 uint8 SOURCE_MAVLINK_3 = 5		# mavlink instance 4
 
+uint64 timestamp_last_signal		# last valid reception time
+
 # Any of the channels may not be available and be set to NaN
 # to indicate that it does not contain valid data.
 # The variable names follow the definition of the
@@ -30,37 +20,28 @@ float32 x			 # stick position in x direction -1..1
 				 # in general corresponds to forward/back motion or pitch of vehicle,
 				 # in general a positive value means forward or negative pitch and
 				 # a negative value means backward or positive pitch
+
 float32 y			 # stick position in y direction -1..1
 				 # in general corresponds to right/left motion or roll of vehicle,
 				 # in general a positive value means right or positive roll and
 				 # a negative value means left or negative roll
+
 float32 z			 # throttle stick position 0..1
 				 # in general corresponds to up/down motion or thrust of vehicle,
 				 # in general the value corresponds to the demanded throttle by the user,
 				 # if the input is used for setting the setpoint of a vertical position
 				 # controller any value > 0.5 means up and any value < 0.5 means down
+
 float32 r			 # yaw stick/twist position, -1..1
 				 # in general corresponds to the righthand rotation around the vertical
 				 # (downwards) axis of the vehicle
+
 float32 flaps			 # flap position
+
 float32 aux1			 # default function: camera yaw / azimuth
 float32 aux2			 # default function: camera pitch / tilt
 float32 aux3			 # default function: camera trigger
 float32 aux4			 # default function: camera roll
 float32 aux5			 # default function: payload drop
 
-uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
-uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL
-uint8 rattitude_switch	 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
-uint8 posctl_switch		 # position control 2 position switch (optional): _ALTCTL_, POSCTL
-uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
-uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
-uint8 offboard_switch	 	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
-uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
-uint8 arm_switch		 # arm/disarm switch: _DISARMED_, ARMED
-uint8 transition_switch	 # VTOL transition switch: _HOVER, FORWARD_FLIGHT
-uint8 gear_switch	 # landing gear switch: _DOWN_, UP
-int8 mode_slot			 # the slot a specific model selector is in
 uint8 data_source		 # where this input is coming from
-uint8 stab_switch 		 # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
-uint8 man_switch		 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL

msg/manual_control_switches.msg

@@ -0,0 +1,34 @@
+
+uint64 timestamp			# time since system start (microseconds)
+
+uint8 SWITCH_POS_NONE = 0		# switch is not mapped
+uint8 SWITCH_POS_ON = 1			# switch activated (value = 1)
+uint8 SWITCH_POS_MIDDLE = 2		# middle position (value = 0)
+uint8 SWITCH_POS_OFF = 3		# switch not activated (value = -1)
+
+int8 MODE_SLOT_NONE = -1		# no mode slot assigned
+int8 MODE_SLOT_1 = 0			# mode slot 1 selected
+int8 MODE_SLOT_2 = 1			# mode slot 2 selected
+int8 MODE_SLOT_3 = 2			# mode slot 3 selected
+int8 MODE_SLOT_4 = 3			# mode slot 4 selected
+int8 MODE_SLOT_5 = 4			# mode slot 5 selected
+int8 MODE_SLOT_6 = 5			# mode slot 6 selected
+int8 MODE_SLOT_MAX = 6			# number of slots
+
+uint64 timestamp_last_signal		# last valid reception time
+
+int8 mode_slot			 # the slot a specific model selector is in
+
+uint8 mode_switch		 # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
+uint8 return_switch		 # return to launch 2 position switch (mandatory): _NORMAL_, RTL
+uint8 rattitude_switch	 # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
+uint8 posctl_switch		 # position control 2 position switch (optional): _ALTCTL_, POSCTL
+uint8 loiter_switch		 # loiter 2 position switch (optional): _MISSION_, LOITER
+uint8 acro_switch		 # acro 2 position switch (optional): _MANUAL_, ACRO
+uint8 offboard_switch	 	 # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
+uint8 kill_switch		 # throttle kill: _NORMAL_, KILL
+uint8 arm_switch		 # arm/disarm switch: _DISARMED_, ARMED
+uint8 transition_switch	 # VTOL transition switch: _HOVER, FORWARD_FLIGHT
+uint8 gear_switch	 # landing gear switch: _DOWN_, UP
+uint8 stab_switch 		 # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
+uint8 man_switch		 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL

src/lib/FlightTasks/tasks/Manual/FlightTaskManual.cpp

@@ -52,6 +52,10 @@ bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_a
 		return false;
 	}
 
+	if (!subscription_array.get(ORB_ID(manual_control_switches), _sub_manual_control_switches)) {
+		return false;
+	}
+
 	return true;
 }
 
@@ -86,18 +90,21 @@ bool FlightTaskManual::_evaluateSticks()
 		_sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _stick_dz.get());
 		_sticks_expo(3) = math::expo_deadzone(_sticks(3), _yaw_expo.get(), _stick_dz.get());
 
-		// Only switch the landing gear up if the user switched from gear down to gear up.
-		// If the user had the switch in the gear up position and took off ignore it
-		// until he toggles the switch to avoid retracting the gear immediately on takeoff.
-		int8_t gear_switch = _sub_manual_control_setpoint->get().gear_switch;
+		// landing gear
+		if ((_time_stamp_current - _sub_manual_control_switches->get().timestamp) < rc_timeout) {
+			// Only switch the landing gear up if the user switched from gear down to gear up.
+			// If the user had the switch in the gear up position and took off ignore it
+			// until he toggles the switch to avoid retracting the gear immediately on takeoff.
+			int8_t gear_switch = _sub_manual_control_switches->get().gear_switch;
 
-		if (!_constraints.landing_gear) {
-			if (gear_switch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+			if (!_constraints.landing_gear) {
+				if (gear_switch == manual_control_switches_s::SWITCH_POS_OFF) {
+					_applyGearSwitch(gear_switch);
+				}
+
+			} else {
 				_applyGearSwitch(gear_switch);
 			}
-
-		} else {
-			_applyGearSwitch(gear_switch);
 		}
 
 		// valid stick inputs are required
@@ -119,11 +126,11 @@ bool FlightTaskManual::_evaluateSticks()
 
 void FlightTaskManual::_applyGearSwitch(uint8_t gswitch)
 {
-	if (gswitch == manual_control_setpoint_s::SWITCH_POS_OFF) {
+	if (gswitch == manual_control_switches_s::SWITCH_POS_OFF) {
 		_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
 	}
 
-	if (gswitch == manual_control_setpoint_s::SWITCH_POS_ON) {
+	if (gswitch == manual_control_switches_s::SWITCH_POS_ON) {
 		_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
 	}
 }

src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp

@@ -42,6 +42,7 @@
 
 #include "FlightTask.hpp"
 #include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/manual_control_switches.h>
 
 class FlightTaskManual : public FlightTask
 {
@@ -68,6 +69,7 @@ class FlightTaskManual : public FlightTask
 	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
 
 	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+	uORB::Subscription<manual_control_switches_s> *_sub_manual_control_switches{nullptr};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_HOLD_DZ>) _stick_dz, /**< 0-deadzone around the center for the sticks */