Verbose RC Override #371
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Verbose RC Override #371
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superjax
previously approved these changes
Feb 11, 2020
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Overall -- I'm really happy with this. In general, I like how the functions got shorter, and some of the real hairy logic got abstracted.
Thanks, also for writing the unit tests. I hope that it was a little bit easier this time, with the tests split out 😝
I can't remember if we were going to wait for the v1.0 release before merging this.
| RCOverrideReason stick_override_reason; | ||
| RCOverrideReason offboard_inactive_override_reason; | ||
| uint16_t override_mask; | ||
| } channel_override_t; |
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do we want to migrate to using C++ structs, instead of C structs?
src/command_manager.cpp
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| return override_this_channel; | ||
| if(!(muxes[MUX_F].onboard->active)) // The throttle has unique override behavior | ||
| rc_override |= OVERRIDE_OFFBOARD_T_INACTIVE; | ||
| if(RF_.params_.get_param_int(PARAM_RC_OVERRIDE_TAKE_MIN_THROTTLE)) |
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I know that the logic is relatively obvious, but I got lost. A comment would be nice.
also, let's put braces on this if statement
test/command_manager_test.cpp
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| rc_values[i] = 1500; | ||
| } | ||
| for (int i=4;i<8;i++) |
BillThePlatypus
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# Conflicts: # .astylerc # boards/airbourne/airbourne_board.cpp # boards/breezy/breezy_board.cpp # comms/mavlink/mavlink.cpp # comms/mavlink/mavlink.h # include/board.h # include/comm_manager.h # include/command_manager.h # include/controller.h # include/estimator.h # include/interface/comm_link.h # include/mixer.h # include/param.h # include/rc.h # include/rosflight.h # include/util.h # src/comm_manager.cpp # src/command_manager.cpp # src/controller.cpp # src/mixer.cpp # src/param.cpp # src/sensors.cpp # test/command_manager_test.cpp # test/estimator_test.cpp # test/test_board.cpp # test/test_board.h # test/turbotrig_test.cpp
# Conflicts: # boards/airbourne/airbourne_board.h # boards/breezy/breezy_board.h # boards/breezy/flash.h # include/board.h # include/command_manager.h # include/controller.h # include/estimator.h # include/interface/comm_link.h # include/mixer.h # include/param.h # include/rc.h # include/util.h # src/comm_manager.cpp # src/command_manager.cpp # src/controller.cpp # src/mixer.cpp # src/sensors.cpp # test/command_manager_test.cpp # test/common.h # test/estimator_test.cpp # test/turbotrig_test.cpp
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This also seems like a lot of great work, we should visit revisit this at some point. |
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This changes the RC Override variable in the status message from a boolean to a bitfield, that indicates specifically why RC is overriding offboard controls. This also allows you to tell which channels are overridden. There are corresponding changes to rosflight_io that show this in the status messages.