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linux_pwm_out: add MC_AIRMODE support

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This commit is contained in:
Beat Küng
2018-03-23 10:35:08 +01:00
committed by Roman Bapst
parent 20c7387c87
commit 56ea1a82aa
1 changed files with 45 additions and 6 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+45 -6
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@@ -44,6 +44,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_mixer.h>
@@ -99,17 +100,19 @@ int32_t _pwm_max;
MixerGroup *_mixer_group = nullptr;
void usage();
static void usage();
void start();
static void start();
void stop();
static void stop();
void task_main_trampoline(int argc, char *argv[]);
static void task_main_trampoline(int argc, char *argv[]);
void subscribe();
static void subscribe();
void task_main(int argc, char *argv[]);
static void task_main(int argc, char *argv[]);
static void update_params(bool &airmode);
/* mixer initialization */
int initialize_mixer(const char *mixer_filename);
@@ -128,6 +131,19 @@ int mixer_control_callback(uintptr_t handle,
}
void update_params(bool &airmode)
{
// multicopter air-mode
param_t param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
airmode = val > 0;
}
}
int initialize_mixer(const char *mixer_filename)
{
char buf[4096];
@@ -227,6 +243,10 @@ void task_main(int argc, char *argv[])
// subscribe and set up polling
subscribe();
bool airmode = false;
update_params(airmode);
int params_sub = orb_subscribe(ORB_ID(parameter_update));
int rc_channels_sub = -1;
// Start disarmed
@@ -244,6 +264,10 @@ void task_main(int argc, char *argv[])
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
}
if (_mixer_group) {
_mixer_group->set_airmode(airmode);
}
int pret = px4_poll(_poll_fds, _poll_fds_num, 10);
/* Timed out, do a periodic check for _task_should_exit. */
@@ -366,6 +390,17 @@ void task_main(int argc, char *argv[])
PX4_ERR("Could not mix output! Exiting...");
_task_should_exit = true;
}
/* check for parameter updates */
bool param_updated = false;
orb_check(params_sub, &param_updated);
if (param_updated) {
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), params_sub, &update);
update_params(airmode);
}
}
delete pwm_out;
@@ -385,6 +420,10 @@ void task_main(int argc, char *argv[])
orb_unsubscribe(rc_channels_sub);
}
if (params_sub != -1) {
orb_unsubscribe(params_sub);
}
_is_running = false;
}