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fixed publication of mixer limit flags

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This commit is contained in:
Roman Bapst
2015-04-10 20:26:38 +02:00
committed by tumbili
parent 2d985dbed3
commit 555e96a37a
16 changed files with 69 additions and 48 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -2
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@@ -230,7 +230,7 @@ mixer_tick(void)
/* poor mans mutex */
in_mixer = true;
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &r_mixer_limits);
in_mixer = false;
/* the pwm limit call takes care of out of band errors */
@@ -453,7 +453,7 @@ mixer_set_failsafe()
unsigned mixed;
/* mix */
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &r_mixer_limits);
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
src/modules/px4iofirmware/protocol.h
+5
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@@ -133,6 +133,11 @@
#define PX4IO_P_STATUS_VRSSI 7 /* [2] RSSI voltage */
#define PX4IO_P_STATUS_PRSSI 8 /* [2] RSSI PWM value */
#define PX4IO_P_STATUS_MIXER 9 /* mixer actuator limit flags */
#define PX4IO_P_STATUS_MIXER_LOWER_LIMIT (1 << 0) /**< at least one actuator output has reached lower limit */
#define PX4IO_P_STATUS_MIXER_UPPER_LIMIT (1 << 1) /**< at least one actuator output has reached upper limit */
#define PX4IO_P_STATUS_MIXER_YAW_LIMIT (1 << 2) /**< yaw control is limited because it causes output clipping */
/* array of post-mix actuator outputs, -10000..10000 */
#define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */
src/modules/px4iofirmware/px4io.h
+3 -2
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@@ -98,8 +98,9 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#define r_raw_rc_count r_page_raw_rc_input[PX4IO_P_RAW_RC_COUNT]
#define r_raw_rc_values (&r_page_raw_rc_input[PX4IO_P_RAW_RC_BASE])
#define r_raw_rc_flags r_page_raw_rc_input[PX4IO_P_RAW_RC_FLAGS]
#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID]
#define r_rc_values (&r_page_rc_input[PX4IO_P_RC_BASE])
#define r_rc_valid r_page_rc_input[PX4IO_P_RC_VALID]
#define r_rc_values (&r_page_rc_input[PX4IO_P_RC_BASE])
#define r_mixer_limits r_page_status[PX4IO_P_STATUS_MIXER]
#define r_setup_features r_page_setup[PX4IO_P_SETUP_FEATURES]
#define r_setup_arming r_page_setup[PX4IO_P_SETUP_ARMING]
src/modules/px4iofirmware/registers.c
+1
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@@ -90,6 +90,7 @@ uint16_t r_page_status[] = {
[PX4IO_P_STATUS_VSERVO] = 0,
[PX4IO_P_STATUS_VRSSI] = 0,
[PX4IO_P_STATUS_PRSSI] = 0,
[PX4IO_P_STATUS_MIXER] = 0,
};
/**