px4io: moving mixing to FMU side

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>

src/systemcmds/tests/CMakeLists.txt

@@ -36,7 +36,6 @@ set(srcs
 	test_bezierQuad.cpp
 	test_bitset.cpp
 	test_bson.cpp
-	test_conv.cpp
 	test_dataman.c
 	test_file.c
 	test_file2.c

src/systemcmds/tests/test_conv.cpp

@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012-2019 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file test_conv.cpp
- * Tests conversions used across the system.
- */
-
-#include <sys/types.h>
-
-#include <stdio.h>
-#include <poll.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <errno.h>
-
-#include "tests_main.h"
-
-#include <math.h>
-#include <float.h>
-
-#include <unit_test.h>
-#include <px4iofirmware/protocol.h>
-
-int test_conv(int argc, char *argv[])
-{
-	//PX4_INFO("Testing system conversions");
-
-	for (int i = -10000; i <= 10000; i += 1) {
-		float f = i / 10000.0f;
-		float fres = REG_TO_FLOAT(FLOAT_TO_REG(f));
-
-		if (fabsf(f - fres) > 0.0001f) {
-			PX4_ERR("conversion fail: input: %8.4f, intermediate: %d, result: %8.4f", (double)f, REG_TO_SIGNED(FLOAT_TO_REG(f)),
-				(double)fres);
-			return 1;
-		}
-	}
-
-	//PX4_INFO("All conversions clean");
-
-	return 0;
-}

src/systemcmds/tests/test_mixer.cpp

@@ -48,7 +48,7 @@
 #include <output_limit/output_limit.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
-#include <px4iofirmware/mixer.h>
+
 #include <px4iofirmware/protocol.h>
 
 #include <uORB/topics/actuator_controls.h>
@@ -277,7 +277,7 @@ bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loade
 
 	/* reset, load in chunks */
 	mixer_group.reset();
-	char mixer_text[PX4IO_MAX_MIXER_LENGTH];		/* large enough for one mixer */
+	char mixer_text[330];		/* large enough for one mixer */
 
 	unsigned mixer_text_length = 0;
 	unsigned transmitted = 0;
@@ -290,7 +290,7 @@ bool MixerTest::load_mixer(const char *filename, const char *buf, unsigned loade
 		/* check for overflow - this would be really fatal */
 		if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
 			PX4_ERR("Mixer text length overflow for file: %s. Is PX4IO_MAX_MIXER_LENGTH too small? (curr len: %d)", filename,
-				PX4IO_MAX_MIXER_LENGTH);
+				330);
 			return false;
 		}
 

src/systemcmds/tests/test_ppm_loopback.c

@@ -48,7 +48,7 @@
 #include <errno.h>
 
 #include <drivers/drv_pwm_output.h>
-#include <drivers/drv_rc_input.h>
+#include <uORB/topics/input_rc.h>
 #include <uORB/topics/rc_channels.h>
 #include <systemlib/err.h>
 

src/systemcmds/tests/test_rc.c

@@ -48,9 +48,9 @@
 #include <errno.h>
 
 #include <drivers/drv_pwm_output.h>
-#include <drivers/drv_rc_input.h>
 #include <drivers/drv_hrt.h>
 #include <systemlib/err.h>
+#include <uORB/topics/input_rc.h>
 
 #include "tests_main.h"
 

src/systemcmds/tests/tests_main.c

@@ -81,7 +81,6 @@ const struct {
 	{"bezier",		test_bezierQuad,	0},
 	{"bitset",		test_bitset,		0},
 	{"bson",		test_bson,		0},
-	{"conv",		test_conv,		0},
 	{"dataman",		test_dataman,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"file2",		test_file2,		OPT_NOJIGTEST},
 	{"float",		test_float,		0},

src/systemcmds/tests/tests_main.h

@@ -47,7 +47,6 @@ extern int test_atomic_bitset(int argc, char *argv[]);
 extern int test_bezierQuad(int argc, char *argv[]);
 extern int test_bitset(int argc, char *argv[]);
 extern int test_bson(int argc, char *argv[]);
-extern int test_conv(int argc, char *argv[]);
 extern int test_dataman(int argc, char *argv[]);
 extern int test_file(int argc, char *argv[]);
 extern int test_file2(int argc, char *argv[]);