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control_allocator: remove direct mixer, add actuator_{motors,servos} instead

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This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent a51c465b54
commit 38fa65a47e
21 changed files with 49 additions and 371 deletions
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src/lib/mixer_module/mixer_module.cpp
+6 -12
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@@ -50,8 +50,6 @@ MixingOutput::MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &inter
{&interface, ORB_ID(actuator_controls_1)},
{&interface, ORB_ID(actuator_controls_2)},
{&interface, ORB_ID(actuator_controls_3)},
{&interface, ORB_ID(actuator_controls_4)},
{&interface, ORB_ID(actuator_controls_5)},
},
_scheduling_policy(scheduling_policy),
_support_esc_calibration(support_esc_calibration),
@@ -542,11 +540,9 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* motor spinup phase - lock throttle to zero */
if (output->_output_limit.state == OUTPUT_LIMIT_STATE_RAMP) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
@@ -556,11 +552,9 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
/* throttle not arming - mark throttle input as invalid */
if (output->armNoThrottle() && !output->_armed.in_esc_calibration_mode) {
if (((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) ||
(control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART1 ||
control_group == actuator_controls_s::GROUP_INDEX_ALLOCATED_PART2)) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN;
}