Working on more verbose rc override messages. The necessary function prototypes, definitions, and rc_override type has been changed to allow uint8_t inputs rather than boolean.

Author: James-Wade1

comms/mavlink/mavlink.cpp

@@ -260,7 +260,7 @@ void Mavlink::send_sonar(uint8_t system_id,
   send_message(msg);
 }
 
-void Mavlink::send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override,
+void Mavlink::send_status(uint8_t system_id, bool armed, bool failsafe, uint8_t rc_override,
                           bool offboard, uint8_t error_code, uint8_t control_mode,
                           int16_t num_errors, int16_t loop_time_us)
 {

comms/mavlink/mavlink.h

@@ -79,7 +79,7 @@ class Mavlink : public CommLinkInterface
   void send_sonar(uint8_t system_id,
                   /* TODO enum type*/ uint8_t type, float range, float max_range,
                   float min_range) override;
-  void send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override, bool offboard,
+  void send_status(uint8_t system_id, bool armed, bool failsafe, uint8_t rc_override, bool offboard,
                    uint8_t error_code, uint8_t control_mode, int16_t num_errors,
                    int16_t loop_time_us) override;
   void send_timesync(uint8_t system_id, int64_t tc1, int64_t ts1) override;

include/comm_link.h

@@ -156,7 +156,7 @@ class CommLinkInterface
   virtual void send_sonar(uint8_t system_id,
                           /* TODO enum type*/ uint8_t type, float range, float max_range,
                           float min_range) = 0;
-  virtual void send_status(uint8_t system_id, bool armed, bool failsafe, bool rc_override,
+  virtual void send_status(uint8_t system_id, bool armed, bool failsafe, uint8_t rc_override,
                            bool offboard, uint8_t error_code, uint8_t control_mode,
                            int16_t num_errors, int16_t loop_time_us) = 0;
   virtual void send_timesync(uint8_t system_id, int64_t tc1, int64_t ts1) = 0;

include/command_manager.h

@@ -161,16 +161,15 @@ class CommandManager : public ParamListenerInterface
   ROSflight & RF_;
 
   bool new_command_;
-  bool rc_throttle_override_;
-  bool rc_attitude_override_;
+  uint8_t rc_override_;
 
   control_t & failsafe_command_;
 
   void param_change_callback(uint16_t param_id) override;
   void init_failsafe();
 
-  bool do_roll_pitch_yaw_muxing(MuxChannel channel);
-  bool do_throttle_muxing(void);
+  uint8_t do_roll_pitch_yaw_muxing(MuxChannel channel);
+  uint8_t do_throttle_muxing(void);
   void do_min_throttle_muxing();
 
   void interpret_rc(void);
@@ -180,9 +179,7 @@ class CommandManager : public ParamListenerInterface
   CommandManager(ROSflight & _rf);
   void init();
   bool run();
-  bool rc_override_active();
-  bool rc_throttle_override_active();
-  bool rc_attitude_override_active();
+  uint8_t rc_override_active();
   bool offboard_control_active();
   void set_new_offboard_command(control_t new_offboard_command);
   void set_new_rc_command(control_t new_rc_command);

src/command_manager.cpp

@@ -212,7 +212,7 @@ bool CommandManager::stick_deviated(MuxChannel channel)
   }
 }
 
-bool CommandManager::do_roll_pitch_yaw_muxing(MuxChannel channel)
+uint8_t CommandManager::do_roll_pitch_yaw_muxing(MuxChannel channel)
 {
   bool override_this_channel = false;
   // Check if the override switch exists and is triggered, or if the sticks have deviated enough to
@@ -229,10 +229,11 @@ bool CommandManager::do_roll_pitch_yaw_muxing(MuxChannel channel)
   }
   // set the combined channel output depending on whether RC is overriding for this channel or not
   *muxes[channel].combined = override_this_channel ? *muxes[channel].rc : *muxes[channel].onboard;
-  return override_this_channel;
+  if (override_this_channel) return 1U;
+  else return 0;
 }
 
-bool CommandManager::do_throttle_muxing(void)
+uint8_t CommandManager::do_throttle_muxing(void)
 {
   bool override_this_channel = false;
   MuxChannel selected_channel;
@@ -285,11 +286,7 @@ bool CommandManager::do_throttle_muxing(void)
   return override_this_channel;
 }
 
-bool CommandManager::rc_override_active() { return rc_throttle_override_ || rc_attitude_override_; }
-
-bool CommandManager::rc_throttle_override_active() { return rc_throttle_override_; }
-
-bool CommandManager::rc_attitude_override_active() { return rc_attitude_override_; }
+uint8_t CommandManager::rc_override_active() { return rc_override_; }
 
 bool CommandManager::offboard_control_active()
 {
@@ -341,10 +338,10 @@ bool CommandManager::run()
     }
 
     // Perform muxing
-    rc_attitude_override_ = do_roll_pitch_yaw_muxing(MUX_QX);
-    rc_attitude_override_ |= do_roll_pitch_yaw_muxing(MUX_QY);
-    rc_attitude_override_ |= do_roll_pitch_yaw_muxing(MUX_QZ);
-    rc_throttle_override_ = do_throttle_muxing();
+    rc_override_ = do_roll_pitch_yaw_muxing(MUX_QX);
+    rc_override_ |= do_roll_pitch_yaw_muxing(MUX_QY);
+    rc_override_ |= do_roll_pitch_yaw_muxing(MUX_QZ);
+    rc_override_ += 2U*do_throttle_muxing();
 
     // Light to indicate override
     if (rc_override_active()) {