fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 09:14:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

pwm_out_sim add mixer saturation status publication (#10866)

Browse Source
This commit is contained in:
Daniel Agar 2018-11-16 16:42:20 -05:00 committed by GitHub
parent 3ee596284d
commit 48ba88eaf0
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 16 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
src/drivers/pwm_out_sim/PWMSim.cpp
View File

@ -33,6 +33,8 @@
#include "PWMSim.hpp"
#include <uORB/topics/multirotor_motor_limits.h>
PWMSim::PWMSim() :
CDev(PWM_OUTPUT0_DEVICE_PATH),
_perf_control_latency(perf_alloc(PC_ELAPSED, "pwm_out_sim control latency"))
@ -285,6 +287,19 @@ PWMSim::run()
}
}
/* publish mixer status */
MultirotorMixer::saturation_status saturation_status;
saturation_status.value = _mixers->get_saturation_status();
if (saturation_status.flags.valid) {
multirotor_motor_limits_s motor_limits;
motor_limits.timestamp = hrt_absolute_time();
motor_limits.saturation_status = saturation_status.value;
int instance;
orb_publish_auto(ORB_ID(multirotor_motor_limits), &_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT);
}
/* and publish for anyone that cares to see */
_actuator_outputs.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);

1
src/drivers/pwm_out_sim/PWMSim.hpp
View File

@ -112,6 +112,7 @@ private:
actuator_outputs_s _actuator_outputs = {};
orb_advert_t _outputs_pub{nullptr};
orb_advert_t _mixer_status{nullptr};
unsigned _num_outputs{0};