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refactor pwm_out_sim: use mixer_module and run on work queue

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Tested with SITL + HITL
This commit is contained in:
Beat Küng
2019-10-21 09:42:08 +02:00
parent 2837152983
commit 349469cf75
10 changed files with 137 additions and 572 deletions
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src/drivers/dshot/dshot.cpp
+1 -4
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@@ -121,9 +121,6 @@ public:
/** @see ModuleBase */
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static DShotOutput *instantiate(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[]);
@@ -197,7 +194,7 @@ private:
int requestESCInfo();
MixingOutput _mixing_output{*this, MixingOutput::SchedulingPolicy::Auto, false, false};
MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
Telemetry *_telemetry{nullptr};
static char _telemetry_device[20];