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VTOL preserve PWM min and max when enabling/disabling actuators

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This commit is contained in:
Daniel Agar
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent a78ab02144
commit 00f98c64db
8 changed files with 113 additions and 139 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+7 -14
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@@ -104,7 +104,7 @@ Tiltrotor::parameters_update()
_params_tiltrotor.diff_thrust_scale = math::constrain(v, -1.0f, 1.0f);
}
int Tiltrotor::get_motor_off_channels(int channels)
uint32_t Tiltrotor::get_motor_off_channels(int channels)
{
int channel_bitmap = 0;
@@ -251,8 +251,7 @@ void Tiltrotor::update_mc_state()
// set idle speed for rotary wing mode
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
flag_idle_mc = enable_mc_motors();
}
}
@@ -270,8 +269,7 @@ void Tiltrotor::update_fw_state()
// adjust idle for fixed wing flight
if (flag_idle_mc) {
set_idle_fw();
flag_idle_mc = false;
flag_idle_mc = !disable_mc_motors();
}
}
@@ -347,8 +345,7 @@ void Tiltrotor::update_transition_state()
}
if (!flag_idle_mc) {
set_idle_mc();
flag_idle_mc = true;
flag_idle_mc = enable_mc_motors();
}
// tilt rotors back
@@ -447,8 +444,6 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state, int value)
break;
}
int ret;
unsigned servo_count;
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = px4_open(dev, 0);
@@ -456,9 +451,7 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state, int value)
PX4_WARN("can't open %s", dev);
}
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
struct pwm_output_values pwm_max_values;
memset(&pwm_max_values, 0, sizeof(pwm_max_values));
struct pwm_output_values pwm_max_values = {};
for (int i = 0; i < _params->vtol_motor_count; i++) {
if (is_motor_off_channel(i)) {
@@ -471,10 +464,10 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state, int value)
pwm_max_values.channel_count = _params->vtol_motor_count;
}
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_max_values);
int ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_max_values);
if (ret != OK) {
PX4_WARN("failed setting max values");
PX4_ERR("failed setting max values");
}
px4_close(fd);