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FMU get initial values of parameters

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Dennis Shtatnov 2017-04-02 15:52:53 -04:00 committed by Lorenz Meier
parent 0158f1d506
commit 6b2f5970eb
1 changed files with 41 additions and 33 deletions
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74
src/drivers/px4fmu/fmu.cpp
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@ -271,6 +271,7 @@ private:
void publish_pwm_outputs(uint16_t *values, size_t numvalues);
void update_pwm_out_state(bool on);
void pwm_output_set(unsigned i, unsigned value);
void update_params();
struct GPIOConfig {
uint32_t input;
@ -1081,8 +1082,9 @@ PX4FMU::cycle()
# endif
#endif
param_find("MOT_SLEW_MAX");
param_find("THR_MDL_FAC");
// Getting initial parameter values
this->update_params();
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
@ -1425,37 +1427,7 @@ PX4FMU::cycle()
orb_check(_param_sub, &updated);
if (updated) {
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
update_pwm_trims();
int32_t dsm_bind_val;
param_t param_handle;
/* see if bind parameter has been set, and reset it to -1 */
param_get(param_handle = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(param_handle, &dsm_bind_val);
}
// maximum motor slew rate parameter
param_handle = param_find("MOT_SLEW_MAX");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_mot_t_max);
}
// thrust to pwm modelling factor
param_handle = param_find("THR_MDL_FAC");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_thr_mdl_fac);
}
this->update_params();
}
/* update ADC sampling */
@ -1735,6 +1707,42 @@ PX4FMU::cycle()
}
}
void PX4FMU::update_params()
{
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
update_pwm_trims();
int32_t dsm_bind_val;
param_t param_handle;
/* see if bind parameter has been set, and reset it to -1 */
param_get(param_handle = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val > -1) {
dsm_bind_ioctl(dsm_bind_val);
dsm_bind_val = -1;
param_set(param_handle, &dsm_bind_val);
}
// maximum motor slew rate parameter
param_handle = param_find("MOT_SLEW_MAX");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_mot_t_max);
}
// thrust to pwm modelling factor
param_handle = param_find("THR_MDL_FAC");
if (param_handle != PARAM_INVALID) {
param_get(param_handle, &_thr_mdl_fac);
}
}
void PX4FMU::stop()
{
/* Signal that we want to stop the task or work.