new manual_control_switches msg (split out of manual_control_setpoint)

[dagar]

• split out switches from manual_control_setpoint into new message manual_control_switches
• manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
• simple switch debounce in rc_update (2 consecutive identical decodes required)
• commander now polls manual_control_switches rather than sleeping revisit later
• manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
• processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
  • a future step will be to finally drop mode_switch and accompanying switches entirely

FYI @RicardoM17 @mhkabir @MaEtUgR

[dagar]

This is ready for review, but won't be mergable until we fix the flash shortage.

[MaEtUgR]

Nice improvements, good that you went after the ancient rc_update 👍 It was not easy to go through because of the one commit reordering, indentation, new logic.

I found some issues, the blocking ones to fix being:

• Old stick value usage in auto land because of missing timeout
• Any switch change resulting in mode switch evaluation

[dagar]

Bench tested basic mode switches (mode slot), kill switch, etc. https://logs.px4.io/plot_app?log=955b2728-4981-40ef-bc4d-c272c8d8371a

[MaEtUgR]

@dagar Thanks for addressing the comments!
Three things open:

• Memcpy size new manual_control_switches msg (split out of manual_control_setpoint) #16270 (comment)
• Detail: Keep gear initialization new manual_control_switches msg (split out of manual_control_setpoint) #16270 (comment)
• Flight Review compatibility (forgot to mention yesterday): Same as with Scale manual control setpoint up/down stick -1 to 1 #15949 (comment) and I saw that your uploaded test log doesn't show manual control plot anymore 😬 (FYI @bkueng) I can make Scale manual control setpoint up/down stick -1 to 1 #15949 ready rebased on this pr such that we don't have multiple breaking changes.
  

[dagar]

Flight Review compatibility (forgot to mention yesterday):

Yes I was prepared to jump on that as soon as this lands in master.

I can make #15949 ready rebased on this pr such that we don't have multiple breaking changes.

Let's go for it.

[MaEtUgR]

It looks correct to me now. Also the latest changes to the landing gear logic.
Missing is the flight review adaption that could theoretically go together with #15949 at least I made the pr ready for review.

[dagar]

Thanks @MaEtUgR for the very thorough code review.