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delete old style mode switches #8999

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delete old style mode switches #8999

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6 changes: 2 additions & 4 deletions msg/manual_control_setpoint.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -48,18 +48,16 @@ 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
6 changes: 0 additions & 6 deletions msg/rc_channels.msg
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Expand Up @@ -2,12 +2,9 @@ uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
uint8 RC_CHANNELS_FUNCTION_YAW=3
uint8 RC_CHANNELS_FUNCTION_MODE=4
uint8 RC_CHANNELS_FUNCTION_RETURN=5
uint8 RC_CHANNELS_FUNCTION_POSCTL=6
uint8 RC_CHANNELS_FUNCTION_LOITER=7
uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8
uint8 RC_CHANNELS_FUNCTION_ACRO=9
uint8 RC_CHANNELS_FUNCTION_FLAPS=10
uint8 RC_CHANNELS_FUNCTION_AUX_1=11
uint8 RC_CHANNELS_FUNCTION_AUX_2=12
Expand All @@ -17,13 +14,10 @@ uint8 RC_CHANNELS_FUNCTION_AUX_5=15
uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
uint8 RC_CHANNELS_FUNCTION_TRANSITION=21
uint8 RC_CHANNELS_FUNCTION_GEAR=22
uint8 RC_CHANNELS_FUNCTION_ARMSWITCH=23
uint8 RC_CHANNELS_FUNCTION_STAB=24
uint8 RC_CHANNELS_FUNCTION_MAN=25

uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
Expand Down
3 changes: 2 additions & 1 deletion src/drivers/px4io/px4io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1523,7 +1523,8 @@ PX4IO::io_set_rc_config()
}

/* MAIN MODE SWITCH */
param_get(param_find("RC_MAP_MODE_SW"), &ichan);
// TODO: make the px4io aware of the MANUAL override position
//param_get(param_find("RC_MAP_MODE_SW"), &ichan);

if ((ichan > 0) && (ichan <= (int)_max_rc_input)) {
/* use out of normal bounds index to indicate special channel */
Expand Down
141 changes: 0 additions & 141 deletions src/modules/commander/commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3045,10 +3045,6 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, const vehicle
&& (((_last_sp_man.timestamp != 0) && (_last_sp_man.timestamp == sp_man.timestamp)) ||
((_last_sp_man.offboard_switch == sp_man.offboard_switch) &&
(_last_sp_man.return_switch == sp_man.return_switch) &&
(_last_sp_man.mode_switch == sp_man.mode_switch) &&
(_last_sp_man.acro_switch == sp_man.acro_switch) &&
(_last_sp_man.rattitude_switch == sp_man.rattitude_switch) &&
(_last_sp_man.posctl_switch == sp_man.posctl_switch) &&
(_last_sp_man.loiter_switch == sp_man.loiter_switch) &&
(_last_sp_man.mode_slot == sp_man.mode_slot) &&
(_last_sp_man.stab_switch == sp_man.stab_switch) &&
Expand Down Expand Up @@ -3267,143 +3263,6 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, const vehicle
return res;
}

/* offboard and RTL switches off or denied, check main mode switch */
switch (sp_man.mode_switch) {
case manual_control_setpoint_s::SWITCH_POS_NONE:
res = TRANSITION_NOT_CHANGED;
break;

case manual_control_setpoint_s::SWITCH_POS_OFF: // MANUAL
if (sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_NONE &&
sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
/*
* Legacy mode:
* Acro switch being used as stabilized switch in FW.
*/
if (sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* manual mode is stabilized already for multirotors, so switch to acro
* for any non-manual mode
*/
if (status.is_rotary_wing && !status.is_vtol) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, status_flags, &internal_state);

} else if (!status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);

} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
}

} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
/* Similar to acro transitions for multirotors. FW aircraft don't need a
* rattitude mode.*/
if (status.is_rotary_wing) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, status_flags, &internal_state);

} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);
}

} else {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
}

} else {
/* New mode:
* - Acro is Acro
* - Manual is not default anymore when the manaul switch is assigned
*/
if (sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);

} else if (sp_man.acro_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ACRO, status_flags, &internal_state);

} else if (sp_man.rattitude_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_RATTITUDE, status_flags, &internal_state);

} else if (sp_man.stab_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);

} else if (sp_man.man_switch == manual_control_setpoint_s::SWITCH_POS_NONE) {
// default to MANUAL when no manual switch is set
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);

} else {
// default to STAB when the manual switch is assigned (but off)
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_STAB, status_flags, &internal_state);
}
}

// TRANSITION_DENIED is not possible here
break;

case manual_control_setpoint_s::SWITCH_POS_MIDDLE: // ASSIST
if (sp_man.posctl_switch == manual_control_setpoint_s::SWITCH_POS_ON) {
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_POSCTL, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}

print_reject_mode("POSITION CONTROL");
}

// fallback to ALTCTL
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ALTCTL, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}

if (sp_man.posctl_switch != manual_control_setpoint_s::SWITCH_POS_ON) {
print_reject_mode("ALTITUDE CONTROL");
}

// fallback to MANUAL
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
// TRANSITION_DENIED is not possible here
break;

case manual_control_setpoint_s::SWITCH_POS_ON: // AUTO
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_MISSION, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}

print_reject_mode("AUTO MISSION");

// fallback to LOITER if home position not set
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_AUTO_LOITER, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}

// fallback to POSCTL
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_POSCTL, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}

// fallback to ALTCTL
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_ALTCTL, status_flags, &internal_state);

if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}

// fallback to MANUAL
res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
// TRANSITION_DENIED is not possible here
break;

default:
break;
}

return res;
}

Expand Down
6 changes: 3 additions & 3 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3031,11 +3031,11 @@ class MavlinkStreamManualControl : public MavlinkStream
msg.r = manual.r * 1000;
unsigned shift = 2;
msg.buttons = 0;
msg.buttons |= (manual.mode_switch << (shift * 0));
//msg.buttons |= (manual.mode_switch << (shift * 0));
msg.buttons |= (manual.return_switch << (shift * 1));
msg.buttons |= (manual.posctl_switch << (shift * 2));
//msg.buttons |= (manual.posctl_switch << (shift * 2));
msg.buttons |= (manual.loiter_switch << (shift * 3));
msg.buttons |= (manual.acro_switch << (shift * 4));
//msg.buttons |= (manual.acro_switch << (shift * 4));
msg.buttons |= (manual.offboard_switch << (shift * 5));

mavlink_msg_manual_control_send_struct(_mavlink->get_channel(), &msg);
Expand Down
70 changes: 3 additions & 67 deletions src/modules/sensors/parameters.cpp
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Expand Up @@ -78,23 +78,16 @@ void initialize_parameter_handles(ParameterHandles &parameter_handles)
parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");

/* mandatory mode switches, mapped to channel 5 and 6 per default */
parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
parameter_handles.rc_map_return_sw = param_find("RC_MAP_RETURN_SW");

parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");

/* optional mode switches, not mapped per default */
parameter_handles.rc_map_rattitude_sw = param_find("RC_MAP_RATT_SW");
parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
parameter_handles.rc_map_acro_sw = param_find("RC_MAP_ACRO_SW");
parameter_handles.rc_map_offboard_sw = param_find("RC_MAP_OFFB_SW");
parameter_handles.rc_map_kill_sw = param_find("RC_MAP_KILL_SW");
parameter_handles.rc_map_arm_sw = param_find("RC_MAP_ARM_SW");
parameter_handles.rc_map_trans_sw = param_find("RC_MAP_TRANS_SW");
parameter_handles.rc_map_gear_sw = param_find("RC_MAP_GEAR_SW");
parameter_handles.rc_map_stab_sw = param_find("RC_MAP_STAB_SW");
parameter_handles.rc_map_man_sw = param_find("RC_MAP_MAN_SW");

parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
Expand All @@ -114,20 +107,13 @@ void initialize_parameter_handles(ParameterHandles &parameter_handles)

/* RC thresholds */
parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
parameter_handles.rc_rattitude_th = param_find("RC_RATT_TH");
parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");

parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
parameter_handles.rc_acro_th = param_find("RC_ACRO_TH");
parameter_handles.rc_offboard_th = param_find("RC_OFFB_TH");
parameter_handles.rc_killswitch_th = param_find("RC_KILLSWITCH_TH");
parameter_handles.rc_armswitch_th = param_find("RC_ARMSWITCH_TH");
parameter_handles.rc_trans_th = param_find("RC_TRANS_TH");
parameter_handles.rc_gear_th = param_find("RC_GEAR_TH");
parameter_handles.rc_stab_th = param_find("RC_STAB_TH");
parameter_handles.rc_man_th = param_find("RC_MAN_TH");

/* RC low pass filter configuration */
parameter_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
Expand Down Expand Up @@ -252,30 +238,10 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_mode_sw, &(parameters.rc_map_mode_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_return_sw, &(parameters.rc_map_return_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_rattitude_sw, &(parameters.rc_map_rattitude_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_posctl_sw, &(parameters.rc_map_posctl_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_loiter_sw, &(parameters.rc_map_loiter_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_acro_sw, &(parameters.rc_map_acro_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_offboard_sw, &(parameters.rc_map_offboard_sw)) != OK) {
PX4_WARN("%s", paramerr);
}
Expand All @@ -300,14 +266,6 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_stab_sw, &(parameters.rc_map_stab_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

if (param_get(parameter_handles.rc_map_man_sw, &(parameters.rc_map_man_sw)) != OK) {
PX4_WARN("%s", paramerr);
}

param_get(parameter_handles.rc_map_aux1, &(parameters.rc_map_aux1));
param_get(parameter_handles.rc_map_aux2, &(parameters.rc_map_aux2));
param_get(parameter_handles.rc_map_aux3, &(parameters.rc_map_aux3));
Expand All @@ -321,27 +279,11 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
param_get(parameter_handles.rc_map_flightmode, &(parameters.rc_map_flightmode));

param_get(parameter_handles.rc_fails_thr, &(parameters.rc_fails_thr));
param_get(parameter_handles.rc_assist_th, &(parameters.rc_assist_th));
parameters.rc_assist_inv = (parameters.rc_assist_th < 0);
parameters.rc_assist_th = fabsf(parameters.rc_assist_th);
param_get(parameter_handles.rc_auto_th, &(parameters.rc_auto_th));
parameters.rc_auto_inv = (parameters.rc_auto_th < 0);
parameters.rc_auto_th = fabsf(parameters.rc_auto_th);
param_get(parameter_handles.rc_rattitude_th, &(parameters.rc_rattitude_th));
parameters.rc_rattitude_inv = (parameters.rc_rattitude_th < 0);
parameters.rc_rattitude_th = fabsf(parameters.rc_rattitude_th);
param_get(parameter_handles.rc_posctl_th, &(parameters.rc_posctl_th));
parameters.rc_posctl_inv = (parameters.rc_posctl_th < 0);
parameters.rc_posctl_th = fabsf(parameters.rc_posctl_th);

param_get(parameter_handles.rc_return_th, &(parameters.rc_return_th));
parameters.rc_return_inv = (parameters.rc_return_th < 0);
parameters.rc_return_th = fabsf(parameters.rc_return_th);
param_get(parameter_handles.rc_loiter_th, &(parameters.rc_loiter_th));
parameters.rc_loiter_inv = (parameters.rc_loiter_th < 0);
parameters.rc_loiter_th = fabsf(parameters.rc_loiter_th);
param_get(parameter_handles.rc_acro_th, &(parameters.rc_acro_th));
parameters.rc_acro_inv = (parameters.rc_acro_th < 0);
parameters.rc_acro_th = fabsf(parameters.rc_acro_th);

param_get(parameter_handles.rc_offboard_th, &(parameters.rc_offboard_th));
parameters.rc_offboard_inv = (parameters.rc_offboard_th < 0);
parameters.rc_offboard_th = fabsf(parameters.rc_offboard_th);
Expand All @@ -357,12 +299,6 @@ int update_parameters(const ParameterHandles &parameter_handles, Parameters &par
param_get(parameter_handles.rc_gear_th, &(parameters.rc_gear_th));
parameters.rc_gear_inv = (parameters.rc_gear_th < 0);
parameters.rc_gear_th = fabsf(parameters.rc_gear_th);
param_get(parameter_handles.rc_stab_th, &(parameters.rc_stab_th));
parameters.rc_stab_inv = (parameters.rc_stab_th < 0);
parameters.rc_stab_th = fabsf(parameters.rc_stab_th);
param_get(parameter_handles.rc_man_th, &(parameters.rc_man_th));
parameters.rc_man_inv = (parameters.rc_man_th < 0);
parameters.rc_man_th = fabsf(parameters.rc_man_th);

param_get(parameter_handles.rc_flt_smp_rate, &(parameters.rc_flt_smp_rate));
parameters.rc_flt_smp_rate = math::max(1.0f, parameters.rc_flt_smp_rate);
Expand Down
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