rc_update.h

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#pragma once

#include "parameters.h"

#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include <mathlib/math/filter/LowPassFilter2p.hpp>
#include <uORB/topics/rc_channels.h>

namespace sensors
{

class RCUpdate
{
public:
    RCUpdate(const Parameters &parameters);

    int init();

    void deinit();

    void rc_parameter_map_poll(ParameterHandles &parameter_handles, bool forced = false);

    void update_rc_functions();

    void        rc_poll(const ParameterHandles &parameter_handles);

private:

    float       get_rc_value(uint8_t func, float min_value, float max_value);

    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);

    void set_params_from_rc(const ParameterHandles &parameter_handles);


    int     _rc_sub = -1;           
    int     _rc_parameter_map_sub = -1;     
    orb_advert_t    _rc_pub = nullptr;      
    orb_advert_t    _manual_control_pub = nullptr;  
    orb_advert_t    _actuator_group_3_pub = nullptr;
    struct rc_channels_s _rc;           
    struct rc_parameter_map_s _rc_parameter_map;
    float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; 
    const Parameters &_parameters;

    hrt_abstime _last_rc_to_param_map_time = 0;

    math::LowPassFilter2p _filter_roll; 
    math::LowPassFilter2p _filter_pitch; 
    math::LowPassFilter2p _filter_yaw;
    math::LowPassFilter2p _filter_throttle;

};



} /* namespace sensors */