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Update documentation
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BillThePlatypus committed Mar 17, 2020
1 parent 65c0f88 commit 84dd5b9
Showing 1 changed file with 13 additions and 1 deletion.
14 changes: 13 additions & 1 deletion include/command_manager.h
Original file line number Diff line number Diff line change
Expand Up @@ -192,7 +192,7 @@ class CommandManager : public ParamListenerInterface
/**
* @brief Checks which channels are overridden
* @details There are many reasons that a channel could be overriden. These reasons include:
* - A stick is deviated
* - A stick is deflected
* - The commanded throttle is less than the RC throttle, and the MIN_THROTTLE parameter is set
* - The attitude or throttle override switch is flipped
* - The onboard computer has not sent any commands recently
Expand All @@ -212,6 +212,18 @@ class CommandManager : public ParamListenerInterface
CommandManager(ROSflight &_rf);
void init();
bool run();
/**
* @brief Checks which channels are overridden, and why
* @details There are many reasons that a channel could be overriden. These reasons include:
* - A stick is deflected
* - The commanded throttle is less than the RC throttle, and the MIN_THROTTLE parameter is set
* - The attitude or throttle override switch is flipped
* - The onboard computer has not sent any commands recently
* The returned bitfield indicates which reasons have caused an override.
* Because c++ can use integers as booleans, this function can be treated as providing a boolean
* This value is updated when run is called if a new RC command is available
* @return A bitfield, with overriden reasons indicated
*/
uint16_t get_rc_override();
bool offboard_control_active();
void set_new_offboard_command(control_t new_offboard_command);
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