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uavcan_v1: Fix bugs in MixingOutput / EscClient

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Also add commented-out code for use with PR-16808
(MixingOutput + output_control)
Bench-tested PWM output on a Pixracer via UAVCANv1 ESC commands from a
Pixhawk 4.
This commit is contained in:
JacobCrabill
2021-02-24 19:22:11 +01:00
committed by Lorenz Meier
parent 04ea1cf5c6
commit 935bf75b61
6 changed files with 49 additions and 21 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+8 -14
View File
@@ -90,6 +90,8 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
for (auto &subscriber : _subscribers) {
subscriber->updateParam();
}
_mixing_output.mixingOutput().updateSubscriptions(false, false);
}
UavcanNode::~UavcanNode()
@@ -245,6 +247,10 @@ void UavcanNode::Run()
// Setting the port-id to 0 disables the subscription
subscriber->updateParam();
}
_mixing_output.updateParams();
_mixing_output.mixingOutput().updateSubscriptions(false, false);
}
perf_begin(_cycle_perf);
@@ -341,7 +347,7 @@ void UavcanNode::Run()
} else if (result == 1) {
// A transfer has been received, process it.
PX4_INFO("received Port ID: %d", receive.port_id);
// PX4_INFO("received Port ID: %d", receive.port_id);
if (receive.port_id == uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_) {
result = handlePnpNodeIDAllocationData(receive);
@@ -495,15 +501,6 @@ void UavcanNode::sendHeartbeat()
}
_uavcan_node_heartbeat_last = transfer.timestamp_usec;
/// TESTING -- Remove before flight!
// Since we don't have a mixer file here yet
uint16_t outputs[8] {};
outputs[0] = 1000;
outputs[1] = 2000;
outputs[2] = 3000;
outputs[3] = 4000;
_mixing_output.updateOutputs(false, outputs, 4, 1);
}
}
@@ -690,9 +687,6 @@ int UavcanNode::handleRegisterAccess(const CanardTransfer &receive)
}
/// TODO: I'm getting the following error:
/// "error: the frame size of 2448 bytes is larger than 2048 bytes [-Werror=frame-larger-than=]"
/// TODO: Access_Response
uavcan_register_Access_Response_1_0 response {};
response.value = value;
@@ -764,6 +758,6 @@ void UavcanMixingInterface::Run()
{
pthread_mutex_lock(&_node_mutex);
_mixing_output.update();
_mixing_output.updateSubscriptions(false);
_mixing_output.updateSubscriptions(false, false);
pthread_mutex_unlock(&_node_mutex);
}