fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 17:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

PWM Out: Simplify startup logic

Browse Source 
The simpler logic is more robust towards future refactoring.
This commit is contained in:
Lorenz Meier
2021-04-12 19:11:22 -04:00
committed by Daniel Agar
parent 5f6b8fcb9f
commit 3a004ffd68
1 changed files with 3 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pwm_out/PWMOut.cpp
+3 -13
View File
@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2021 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -35,7 +35,6 @@
pthread_mutex_t pwm_out_module_mutex = PTHREAD_MUTEX_INITIALIZER; pthread_mutex_t pwm_out_module_mutex = PTHREAD_MUTEX_INITIALIZER;
static px4::atomic<PWMOut *> _objects[PWM_OUT_MAX_INSTANCES] {}; static px4::atomic<PWMOut *> _objects[PWM_OUT_MAX_INSTANCES] {};
static bool _pwm_out_started = false;
static bool is_running() static bool is_running()
{ {
@@ -511,8 +510,6 @@ int PWMOut::task_spawn(int argc, char *argv[])
} }
} }
_pwm_out_started = true;
return PX4_OK; return PX4_OK;
} }
@@ -619,11 +616,6 @@ void PWMOut::update_params()
{ {
updateParams(); updateParams();
// skip update when armed
if (_mixing_output.armed().armed) {
return;
}
int32_t pwm_min_default = PWM_DEFAULT_MIN; int32_t pwm_min_default = PWM_DEFAULT_MIN;
int32_t pwm_max_default = PWM_DEFAULT_MAX; int32_t pwm_max_default = PWM_DEFAULT_MAX;
int32_t pwm_disarmed_default = 0; int32_t pwm_disarmed_default = 0;
@@ -2030,7 +2022,7 @@ int PWMOut::custom_command(int argc, char *argv[])
/* start pwm_out if not running */ /* start pwm_out if not running */
if (!_pwm_out_started) { if (!is_running()) {
int ret = PWMOut::task_spawn(argc, argv); int ret = PWMOut::task_spawn(argc, argv);
@@ -2292,7 +2284,7 @@ extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
if (strcmp(argv[1], "start") == 0) { if (strcmp(argv[1], "start") == 0) {
if (_pwm_out_started) { if (is_running()) {
return 0; return 0;
} }
@@ -2377,8 +2369,6 @@ extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
} }
} }
_pwm_out_started = false;
PWMOut::unlock_module(); PWMOut::unlock_module();
return PX4_OK; return PX4_OK;
} }