rc_update.h

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#pragma once

/**
 * @file rc_update.h
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */

#include "parameters.h"

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
#include <lib/perf/perf_counter.h>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/parameter_update.h>

namespace RCUpdate
{

/**
 ** class RCUpdate
 *
 * Handling of RC updates
 */
class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
{
public:
    RCUpdate();
    ~RCUpdate() override;

    /** @see ModuleBase */
    static int task_spawn(int argc, char *argv[]);

    /** @see ModuleBase */
    static int custom_command(int argc, char *argv[]);

    /** @see ModuleBase */
    static int print_usage(const char *reason = nullptr);

    void Run() override;
    bool init();

    /** @see ModuleBase::print_status() */
    int print_status() override;

private:

    /**
     * Check for changes in rc_parameter_map
     */
    void        rc_parameter_map_poll(bool forced = false);

    /**
     * update the RC functions. Call this when the parameters change.
     */
    void        update_rc_functions();

    /**
     * Update our local parameter cache.
     */
    void        parameters_updated();

    /**
     * Get and limit value for specified RC function. Returns NAN if not mapped.
     */
    float       get_rc_value(uint8_t func, float min_value, float max_value);

    /**
     * Get switch position for specified function.
     */
    switch_pos_t    get_rc_sw3pos_position(uint8_t func, float on_th, bool on_inv, float mid_th, bool mid_inv);
    switch_pos_t    get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv);

    /**
     * Update parameters from RC channels if the functionality is activated and the
     * input has changed since the last update
     *
     * @param
     */
    void        set_params_from_rc();

    perf_counter_t      _loop_perf;         /**< loop performance counter */

    Parameters      _parameters{};          /**< local copies of interesting parameters */
    ParameterHandles    _parameter_handles{};       /**< handles for interesting parameters */

    uORB::SubscriptionCallbackWorkItem _input_rc_sub{this, ORB_ID(input_rc)};

    uORB::Subscription  _parameter_update_sub{ORB_ID(parameter_update)};    /**< notification of parameter updates */
    uORB::Subscription  _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};    /**< rc parameter map subscription */

    uORB::Publication<rc_channels_s>    _rc_pub{ORB_ID(rc_channels)};               /**< raw r/c control topic */
    uORB::Publication<actuator_controls_s>  _actuator_group_3_pub{ORB_ID(actuator_controls_3)}; /**< manual control as actuator topic */

    uORB::PublicationMulti<manual_control_setpoint_s>   _manual_control_pub{ORB_ID(manual_control_setpoint), ORB_PRIO_HIGH};    /**< manual control signal topic */

    rc_channels_s _rc {};           /**< r/c channel data */

    rc_parameter_map_s _rc_parameter_map {};
    float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN] {};  /**< parameter values for RC control */

    hrt_abstime _last_rc_to_param_map_time = 0;

    math::LowPassFilter2p _filter_roll; /**< filters for the main 4 stick inputs */
    math::LowPassFilter2p _filter_pitch; /** we want smooth setpoints as inputs to the controllers */
    math::LowPassFilter2p _filter_yaw;
    math::LowPassFilter2p _filter_throttle;

};



} /* namespace RCUpdate */