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pwm_out_sim: add dynamic mixing support

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This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent 0871b7974d
commit 21c1671693
3 changed files with 12 additions and 2 deletions
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src/drivers/pwm_out_sim/CMakeLists.txt
+2
View File
@@ -35,6 +35,8 @@ px4_add_module(
MAIN pwm_out_sim
SRCS
PWMSim.cpp
MODULE_CONFIG
module.yaml
DEPENDS
mixer
mixer_module
src/drivers/pwm_out_sim/PWMSim.cpp
+2 -2
View File
@@ -104,7 +104,7 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (i < OutputModuleInterface::MAX_ACTUATORS) {
if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
_mixing_output.minValue(i) = pwm->values[i];
}
}
@@ -116,7 +116,7 @@ PWMSim::ioctl(device::file_t *filp, int cmd, unsigned long arg)
struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < pwm->channel_count; i++) {
if (i < OutputModuleInterface::MAX_ACTUATORS) {
if (i < OutputModuleInterface::MAX_ACTUATORS && !_mixing_output.useDynamicMixing()) {
_mixing_output.maxValue(i) = pwm->values[i];
}
}
src/drivers/pwm_out_sim/module.yaml
+8
View File
@@ -0,0 +1,8 @@
module_name: PWM Sim
actuator_output:
output_groups:
- param_prefix: PWM_SIM
channel_label: 'PWM Sim'
num_channels: 16