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[PX4IO/PWM driver] Added trim values to the PWM output drivers

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Bartosz Wawrzacz
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent 4494182bfc
commit 619efa7b45
12 changed files with 222 additions and 41 deletions
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src/systemcmds/tests/test_mixer.cpp
+8 -8
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@@ -87,6 +87,7 @@ int test_mixer(int argc, char *argv[])
uint16_t r_page_servo_disarmed[output_max];
uint16_t r_page_servo_control_min[output_max];
uint16_t r_page_servo_control_max[output_max];
uint16_t r_page_servo_control_trim[output_max];
uint16_t r_page_servos[output_max];
uint16_t servo_predicted[output_max];
int16_t reverse_pwm_mask = 0;
@@ -200,6 +201,7 @@ int test_mixer(int argc, char *argv[])
r_page_servo_disarmed[i] = PWM_MOTOR_OFF;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
r_page_servo_control_trim[i] = PWM_DEFAULT_TRIM;
}
//PX4_INFO("PRE-ARM TEST: DISABLING SAFETY");
@@ -209,7 +211,7 @@ int test_mixer(int argc, char *argv[])
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
@@ -250,7 +252,7 @@ int test_mixer(int argc, char *argv[])
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
@@ -288,14 +290,14 @@ int test_mixer(int argc, char *argv[])
r_page_servo_disarmed[i] = PWM_LOWEST_MIN;
r_page_servo_control_min[i] = PWM_DEFAULT_MIN;
r_page_servo_control_max[i] = PWM_DEFAULT_MAX;
r_page_servo_control_trim[i] = PWM_DEFAULT_TRIM;
}
/* mix */
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs,
r_page_servos, &pwm_limit);
r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
//fprintf(stderr, "mixed %d outputs (max %d)", mixed, output_max);
@@ -323,8 +325,7 @@ int test_mixer(int argc, char *argv[])
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs,
r_page_servos, &pwm_limit);
r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {
@@ -361,8 +362,7 @@ int test_mixer(int argc, char *argv[])
mixed = mixer_group.mix(&outputs[0], output_max, NULL);
pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min,
r_page_servo_control_max, outputs,
r_page_servos, &pwm_limit);
r_page_servo_control_max, r_page_servo_control_trim, outputs, r_page_servos, &pwm_limit);
//warnx("mixed %d outputs (max %d), values:", mixed, output_max);
for (unsigned i = 0; i < mixed; i++) {