fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 09:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

actuator_motors.msg: add reversible flags & implement in mixer_module

Browse Source
This commit is contained in:
Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent ccc1f0e8fa
commit 1901edf13c
8 changed files with 40 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/dshot/DShot.cpp
+3 -1
View File
@@ -444,6 +444,8 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
} else {
int telemetry_index = 0;
const uint32_t reversible_outputs = _mixing_output.reversibleOutputs();
for (int i = 0; i < (int)num_outputs; i++) {
uint16_t output = outputs[i];
@@ -452,7 +454,7 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
// This is in terms of DShot values, code below is in terms of actuator_output
// Direction 1) 48 is the slowest, 1047 is the fastest.
// Direction 2) 1049 is the slowest, 2047 is the fastest.
if (_param_dshot_3d_enable.get()) {
if (_param_dshot_3d_enable.get() || (reversible_outputs & (1u << i))) {
if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
output = DSHOT_DISARM_VALUE;