fly316/PX4-Autopilot
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Lorenz Meier
2012-12-30 10:03:05 +01:00
parent b8250de1e6 62a95bf8e6
commit 142556b442
44 changed files with 2125 additions and 1308 deletions
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apps/drivers/hil/hil.cpp
+19 -12
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@@ -68,11 +68,11 @@
#include <drivers/device/device.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_gpio.h>
// #include <drivers/boards/HIL/HIL_internal.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
#include <systemlib/systemlib.h>
#include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h>
@@ -382,7 +382,6 @@ HIL::task_main()
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}
@@ -396,16 +395,27 @@ HIL::task_main()
if (_mixers != nullptr) {
/* do mixing */
_mixers->mix(&outputs.output[0], num_outputs);
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* scale for PWM output 900 - 2100us */
outputs.output[i] = 1500 + (600 * outputs.output[i]);
/* output to the servo */
// up_pwm_servo_set(i, outputs.output[i]);
/* last resort: catch NaN, INF and out-of-band errors */
if (i < (unsigned)outputs.noutputs &&
isfinite(outputs.output[i]) &&
outputs.output[i] >= -1.0f &&
outputs.output[i] <= 1.0f) {
/* scale for PWM output 900 - 2100us */
outputs.output[i] = 1500 + (600 * outputs.output[i]);
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
outputs.output[i] = 900;
}
}
/* and publish for anyone that cares to see */
@@ -419,9 +429,6 @@ HIL::task_main()
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
/* update PWM servo armed status */
// up_pwm_servo_arm(aa.armed);
}
}