manual control selection and cleanup #17404

julianoes · 2021-04-15T14:04:17Z

This adds a new module called manual_control which handles as much as possible of RC and MAVLink manual_control input outside of commander.

julianoes · 2021-05-11T12:34:46Z

Note to self: I should go through commander and clean up some of the now redundant RC loss checking.

julianoes · 2021-05-11T16:14:04Z

Don't bother reviewing just yet. This needs more cleanup work on the commander side.

julianoes · 2021-05-11T17:15:32Z

Ok, now it's in a somewhat reviewable state, I hope.

src/modules/commander/Commander.hpp

julianoes · 2021-05-19T08:45:21Z

@MaEtUgR @dagar I think now is a good time to review this. Then we can try to merge it once the release is in.

julianoes · 2021-05-28T11:40:38Z

Bump, please review.

MaEtUgR

I'm on it but it's a bigger junk to review 🚚

boards/px4/fmu-v2/default.cmake

boards/px4/fmu-v2/init/rc.board_mavlink

MaEtUgR

Some more comments, I'm not through yet 🐌

msg/manual_control_input.msg

ROMFS/px4fmu_common/init.d/rcS

src/modules/commander/Commander.cpp

MaEtUgR

I studied some more. Still not completely through sorry 🏃

src/modules/commander/Commander.cpp

src/modules/manual_control/ManualControl.hpp

src/modules/manual_control/ManualControl.cpp

src/modules/manual_control/ManualControl.hpp

src/modules/manual_control/ManualControl.cpp

julianoes · 2021-06-10T10:07:01Z

@MaEtUgR thanks a lot for the in-depth review.

I think I have addressed most points, except:

Adding enums to the uORB message. I don't love the uORB enums because they are not type safe, so it's a trade-off.
Checking the IO override stuff. I believe this is either broken already or will be broken with the IO lobotomy. 😕

I've rebased the branch and force pushed, so to review the changes, best just check the recent commits.

MaEtUgR

Just adding this now already in the hope it's what prohibits me from answering in the existing conversations.
EDIT: It worked I just couldn't respond because there was a pending review 🤦

src/modules/manual_control/ManualControlSelector.cpp

MaEtUgR

Now I'm completely through 😅 I hope the feedback helps. I'm happy to cooperate e.g. on the arm button logic. I added two commits for the unit test I came up with that fails and to remove the commented-out lines.
My main concerns are:

arming button "broken"
gear switch doesn't cover all cases
MAVLink command target IDs

src/modules/manual_control/ManualControl.cpp

src/modules/mc_rate_control/MulticopterRateControl.cpp

src/modules/manual_control/ManualControlSelectorTest.cpp

src/modules/mavlink/mavlink_receiver.cpp

julianoes · 2021-06-16T09:00:15Z

@MaEtUgR I think I've answered to most of your points and fixed most of them. I'm also rebasing this on latest master, so to see if my fixes make sense, you can just check the latest commits.

…nded

…ntrol_input

…documentation

MaEtUgR · 2021-11-08T13:16:57Z

Final (?) rebase on px4/master because of a simple conflict with https://github.com/PX4/PX4-Autopilot/pull/17547/files#diff-32ce7fd2aab8a5ba5092fe880ac2055b0a153914e38b40aad6cadffb811fd7d0R73

MaEtUgR

Jenkins fails on src/drivers/uavcan/libuavcan and the targets build for me locally.
I'm done with my testing.
@julianoes @dagar Merge?

julianoes requested review from dagar and MaEtUgR April 15, 2021 14:04

julianoes force-pushed the pr-manual_control_selector branch 2 times, most recently from 9f2d21c to ccf5da6 Compare April 21, 2021 13:53

julianoes mentioned this pull request Apr 21, 2021

mavlink receiver fixes #17438

Merged

julianoes force-pushed the pr-manual_control_selector branch 2 times, most recently from 4ec1a44 to 24fb580 Compare May 11, 2021 06:44

julianoes changed the title ~~[WIP] manual control selection and cleanup.~~ manual control selection and cleanup May 11, 2021

julianoes marked this pull request as ready for review May 11, 2021 06:45

julianoes force-pushed the pr-manual_control_selector branch from d37bbf1 to 9fb6266 Compare May 17, 2021 08:52

MaEtUgR reviewed May 18, 2021

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src/modules/commander/Commander.hpp Show resolved Hide resolved

julianoes force-pushed the pr-manual_control_selector branch 2 times, most recently from 6b5d266 to 033a0b9 Compare May 19, 2021 05:18

julianoes closed this May 19, 2021

julianoes reopened this May 19, 2021

julianoes force-pushed the pr-manual_control_selector branch from 4a6f736 to 3aaa101 Compare May 31, 2021 06:38

MaEtUgR reviewed Jun 1, 2021

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boards/px4/fmu-v2/default.cmake Outdated Show resolved Hide resolved

boards/px4/fmu-v2/init/rc.board_mavlink Outdated Show resolved Hide resolved

MaEtUgR reviewed Jun 8, 2021

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MaEtUgR reviewed Jun 9, 2021

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julianoes force-pushed the pr-manual_control_selector branch from 3aaa101 to 4d5a711 Compare June 10, 2021 10:04

MaEtUgR reviewed Jun 15, 2021

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src/modules/manual_control/ManualControlSelector.cpp Outdated Show resolved Hide resolved

MaEtUgR reviewed Jun 15, 2021

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julianoes force-pushed the pr-manual_control_selector branch from 59115a6 to 9e3f4a2 Compare June 16, 2021 09:00

MaEtUgR added 13 commits November 8, 2021 13:47

ManualControl: remove unused variables and renaming

292c5ab

Commander: handle denying disarm when not landed centrally

c3439ec

Fix landing gear processing

f980603

Commander: separate function for action request execution

4510675

ManualControl: Simplify check if switches updated

53dfe0e

ManualControl: avoid scheduling based on unchosen input

ec1f1f7

MulticopterRateControl: Add event for landing gear retraction when la…

fe27469

…nded

ManualControl: correct source for RC mode switches without mode slot

545be15

Commander: fix mode initialization with RC

bb6a608

Commander: report when RC selected mode is not available

9293c03

ManualControl: fix RC override

0f82b49

Use backwards compatible manual_control_setpoint instead of manual_co…

effc78c

…ntrol_input

ManualControlSelector: correct parameter for any source according to …

39ec0d0

…documentation

MaEtUgR force-pushed the pr-manual_control_selector branch from f9f5842 to 39ec0d0 Compare November 8, 2021 12:52

boards/kakutef7: remove dmesg to save flash

f6421f5

MaEtUgR approved these changes Nov 9, 2021

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MaEtUgR merged commit 0090597 into master Nov 9, 2021

MaEtUgR deleted the pr-manual_control_selector branch November 9, 2021 15:05

This was referenced Nov 9, 2021

Add manual_control module to newly added boards #18604

Merged

COM_RC_MODE_IN and COM_RCL_EXCEPT not working as expected #18334

Open

MaEtUgR mentioned this pull request Nov 22, 2021

Follow up improvements for the manual control cleanup #18693

Merged

MaEtUgR mentioned this pull request Dec 9, 2021

ManualControlSelector: Enable original PX4 default behavior until QGC catches up #18823

Merged

MaEtUgR mentioned this pull request Dec 22, 2021

Commander: avoid RC actions during calibration #18890

Merged

MaEtUgR mentioned this pull request May 12, 2022

commander_params: COM_RC_IN_MODE - comment out of date #19634

Merged

ThomasRigi mentioned this pull request Nov 16, 2022

backtransition when taking over manual control #20620

Closed

junwoo091400 mentioned this pull request Nov 22, 2022

Simultaneous RC and Virtual Joystick Control #12050

Open

MaEtUgR mentioned this pull request May 23, 2023

COM_RC_IN_MODE=1 won't disable RC input pre-arm checks #21184

Closed

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manual control selection and cleanup #17404

manual control selection and cleanup #17404

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manual control selection and cleanup #17404

manual control selection and cleanup #17404

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julianoes commented Apr 15, 2021

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