fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mixer: remove used flag stop_outputs

Browse Source 
dshot: fix motor test on CANnode

Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This commit is contained in:
Jacob Dahl
2025-07-11 08:53:52 -06:00
committed by Alex Klimaj
parent 6a1cefd7a6
commit 09ebd21e55
37 changed files with 120 additions and 228 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/roboclaw/Roboclaw.cpp
+3 -9
View File
@@ -154,20 +154,14 @@ int Roboclaw::initializeUART()
}
}
bool Roboclaw::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool Roboclaw::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f;
float left_motor_output = ((float)outputs[1] - 128.0f) / 127.f;
if (stop_motors) {
setMotorSpeed(Motor::Right, 0.f);
setMotorSpeed(Motor::Left, 0.f);
} else {
setMotorSpeed(Motor::Right, right_motor_output);
setMotorSpeed(Motor::Left, left_motor_output);
}
setMotorSpeed(Motor::Right, right_motor_output);
setMotorSpeed(Motor::Left, left_motor_output);
return true;
}
src/drivers/roboclaw/Roboclaw.hpp
+1 -1
View File
@@ -77,7 +77,7 @@ public:
void Run() override;
/** @see OutputModuleInterface */
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
void setMotorSpeed(Motor motor, float value); ///< rev/sec