manual_control_input.hpp

/****************************************************************************
 * Copyright (c) 2023 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
 
#include <px4_msgs/msg/manual_control_setpoint.hpp>
#include <px4_ros2/common/context.hpp>
#include <rclcpp/rclcpp.hpp>
 
using namespace std::chrono_literals;  // NOLINT
 
namespace px4_ros2 {
class ManualControlInput {
 public:
  explicit ManualControlInput(Context& context, bool is_optional = false);
 
  float roll() const { return _manual_control_setpoint.roll; }
  float pitch() const { return _manual_control_setpoint.pitch; }
  float yaw() const { return _manual_control_setpoint.yaw; }
  float throttle() const { return _manual_control_setpoint.throttle; }
 
  float aux1() const { return _manual_control_setpoint.aux1; }
  float aux2() const { return _manual_control_setpoint.aux2; }
  float aux3() const { return _manual_control_setpoint.aux3; }
  float aux4() const { return _manual_control_setpoint.aux4; }
  float aux5() const { return _manual_control_setpoint.aux5; }
  float aux6() const { return _manual_control_setpoint.aux6; }
 
  bool isValid() const
  {
    return _manual_control_setpoint.valid &&
           _node.get_clock()->now() - _last_manual_control_setpoint < 500ms;
  }
 
 private:
  rclcpp::Subscription<px4_msgs::msg::ManualControlSetpoint>::SharedPtr
      _manual_control_setpoint_sub;
  px4_msgs::msg::ManualControlSetpoint _manual_control_setpoint{};
  rclcpp::Time _last_manual_control_setpoint{};
  rclcpp::Node& _node;
};
 
} /* namespace px4_ros2 */