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px4io: moving mixing to FMU side

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Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.

Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Daniel Agar
2021-09-25 19:15:05 -04:00
co-authored by Beat Küng
parent f772b0f45d
commit 089c962d92
59 changed files with 1150 additions and 4170 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+6 -7
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@@ -40,10 +40,9 @@
* @author Thomas Gubler <thomas@px4.io>
*/
#include <airspeed/airspeed.h>
#include <conversion/rotation.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/px4_macros.h>
#include <lib/airspeed/airspeed.h>
#include <lib/conversion/rotation.h>
#include <lib/systemlib/px4_macros.h>
#include <math.h>
#include <poll.h>
@@ -1889,7 +1888,7 @@ MavlinkReceiver::handle_message_rc_channels(mavlink_message_t *msg)
input_rc_s rc{};
rc.timestamp_last_signal = hrt_absolute_time();
rc.rssi = RC_INPUT_RSSI_MAX;
rc.rssi = input_rc_s::RSSI_MAX;
// TODO: fake RSSI from dropped messages?
// for (auto &component_state : _component_states) {
@@ -1959,7 +1958,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
// metadata
rc.timestamp = hrt_absolute_time();
rc.timestamp_last_signal = rc.timestamp;
rc.rssi = RC_INPUT_RSSI_MAX;
rc.rssi = input_rc_s::RSSI_MAX;
rc.rc_failsafe = false;
rc.rc_lost = false;
rc.rc_lost_frame_count = 0;
@@ -2031,7 +2030,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = RC_INPUT_RSSI_MAX;
rc.rssi = input_rc_s::RSSI_MAX;
rc.values[0] = man.x / 2 + 1500; // roll
rc.values[1] = man.y / 2 + 1500; // pitch