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Correctness fixes from Tridge.; increased the minimum poll rate to 50Hz, don't set the input RC timestamp unless we get data.

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This commit is contained in:
px4dev
2013-01-26 00:01:25 -08:00
parent b46d05835b
commit 5fe376c7b9
1 changed files with 42 additions and 38 deletions
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apps/drivers/px4io/px4io.cpp
+42 -38
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@@ -411,9 +411,9 @@ PX4IO::task_main()
_update_interval = 0;
}
/* sleep waiting for topic updates, but no more than 100ms */
/* sleep waiting for topic updates, but no more than 20ms */
unlock();
int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 100);
int ret = ::poll(&fds[0], sizeof(fds) / sizeof(fds[0]), 20);
lock();
/* this would be bad... */
@@ -422,6 +422,9 @@ PX4IO::task_main()
continue;
}
perf_begin(_perf_update);
hrt_abstime now = hrt_absolute_time();
/* if we have new control data from the ORB, handle it */
if (fds[0].revents & POLLIN)
io_set_control_state();
@@ -430,47 +433,47 @@ PX4IO::task_main()
if ((fds[1].revents & POLLIN) || (fds[2].revents & POLLIN))
io_set_arming_state();
hrt_abstime now = hrt_absolute_time();
/*
* If this isn't time for the next tick of the polling state machine,
* go back to sleep.
* If it's time for another tick of the polling status machine,
* try it now.
*/
if ((now - last_poll_time) < 20000)
continue;
if ((now - last_poll_time) >= 20000) {
/*
* Pull status and alarms from IO.
*/
io_get_status();
/*
* Pull status and alarms from IO.
*/
io_get_status();
/*
* Get R/C input from IO.
*/
io_publish_raw_rc();
/*
* Get raw R/C input from IO.
*/
io_publish_raw_rc();
/*
* Fetch mixed servo controls and PWM outputs from IO.
*
* XXX We could do this at a reduced rate in many/most cases.
*/
io_publish_mixed_controls();
io_publish_pwm_outputs();
/*
* Fetch mixed servo controls and PWM outputs from IO.
*
* XXX We could do this at a reduced rate in many/most cases.
*/
io_publish_mixed_controls();
io_publish_pwm_outputs();
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
/*
* If parameters have changed, re-send RC mappings to IO
*
* XXX this may be a bit spammy
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
/* re-upload RC input config as it may have changed */
io_set_rc_config();
/* re-upload RC input config as it may have changed */
io_set_rc_config();
}
}
perf_end(_perf_update);
}
unlock();
@@ -662,8 +665,6 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
uint32_t channel_count;
int ret = OK;
input_rc.timestamp = hrt_absolute_time();
/* we don't have the status bits, so input_source has to be set elsewhere */
input_rc.input_source = RC_INPUT_SOURCE_UNKNOWN;
@@ -688,8 +689,11 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
channel_count = RC_INPUT_MAX_CHANNELS;
input_rc.channel_count = channel_count;
if (channel_count > 0)
if (channel_count > 0) {
ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE, input_rc.values, channel_count);
if (ret == OK)
input_rc.timestamp = hrt_absolute_time();
}
return ret;
}
@@ -697,7 +701,7 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
int
PX4IO::io_publish_raw_rc()
{
/* if no RC, just don't publish */
/* if no raw RC, just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
return OK;