|
|
8abd88e05d
|
feat: RC/autonomous mode manager with smooth handoff
Adds mode_manager.c/h: three operating modes selected by RC CH6 (3-pos
switch), smoothly interpolated over ~500ms to prevent jerky transitions.
Modes:
RC_MANUAL (blend=0.0) — RC CH4 steer + CH3 speed bias; balance PID active
RC_ASSISTED (blend=0.5) — 50/50 blend of RC and Jetson autonomous commands
AUTONOMOUS (blend=1.0) — Jetson steer only; RC CH5 still kills motors
Key design:
- Single `blend` float (0=RC, 1=auto) drives all lerp; MANUAL→AUTO takes
500ms, adjacent steps take ~250ms
- CH6 thresholds: <=600=MANUAL, >=1200=AUTONOMOUS, else ASSISTED
- CH4/CH3 read with ±30-count deadband around CRSF center (992)
- RC speed bias (CH3, ±300 counts) added to bal.motor_cmd AFTER PID
- RC CH5 kill: if rc_alive && !crsf_state.armed → disarm, regardless of mode
- Jetson steer fed via mode_manager_set_auto_cmd() → blended in get_steer()
- Telemetry: new "md" field (0/1/2) in USB JSON stream
- mode_manager_set_auto_cmd() API ready for Jetson serial bridge integration
config.h: CRSF channel indices, deadband, speed-bias max, blend timing.
Safe on USB-only build: CRSF stub keeps last_rx_ms=0 → rc_alive=false
→ RC inputs = 0, mode stays RC_MANUAL, CH5 kill never fires.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
|
2026-02-28 21:06:20 -05:00 |
|
