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pwm_limit: rename to output_limit

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As there is nothing pwm-specific about it.
This commit is contained in:
Beat Küng
2019-08-31 10:05:00 -04:00
committed by Daniel Agar
parent 1bee984bb0
commit a2ebbe9066
22 changed files with 1445 additions and 141 deletions
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src/lib/mixer_module/mixer_module.cpp
+8 -9
View File
@@ -51,9 +51,8 @@ _support_esc_calibration(support_esc_calibration),
_interface(interface),
_control_latency_perf(perf_alloc(PC_ELAPSED, "control latency"))
{
/* initialize PWM limit lib */
pwm_limit_init(&_pwm_limit);
_pwm_limit.ramp_up = ramp_up;
output_limit_init(&_output_limit);
_output_limit.ramp_up = ramp_up;
/* Safely initialize armed flags */
_armed.armed = false;
@@ -252,8 +251,8 @@ bool MixingOutput::update()
/* except thrust to maximum. */
_controls[i].control[actuator_controls_s::INDEX_THROTTLE] = 1.0f;
/* Switch off the PWM limit ramp for the calibration. */
_pwm_limit.state = PWM_LIMIT_STATE_ON;
/* Switch off the output limit ramp for the calibration. */
_output_limit.state = OUTPUT_LIMIT_STATE_ON;
}
}
}
@@ -262,11 +261,11 @@ bool MixingOutput::update()
float outputs[MAX_ACTUATORS] {};
const unsigned mixed_num_outputs = _mixers->mix(outputs, MAX_ACTUATORS);
/* the PWM limit call takes care of out of band errors, NaN and constrains */
/* the output limit call takes care of out of band errors, NaN and constrains */
uint16_t output_limited[MAX_ACTUATORS] {};
pwm_limit_calc(_throttle_armed, armNoThrottle(), mixed_num_outputs, _reverse_output_mask,
_disarmed_value, _min_value, _max_value, outputs, output_limited, &_pwm_limit);
output_limit_calc(_throttle_armed, armNoThrottle(), mixed_num_outputs, _reverse_output_mask,
_disarmed_value, _min_value, _max_value, outputs, output_limited, &_output_limit);
/* overwrite outputs in case of force_failsafe with _failsafe_value values */
if (_armed.force_failsafe) {
@@ -387,7 +386,7 @@ int MixingOutput::controlCallback(uintptr_t handle, uint8_t control_group, uint8
}
/* motor spinup phase - lock throttle to zero */
if (output->_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if (output->_output_limit.state == OUTPUT_LIMIT_STATE_RAMP) {
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
src/lib/mixer_module/mixer_module.hpp
+4 -4
View File
@@ -36,7 +36,7 @@
#include <board_config.h>
#include <lib/mixer/mixer.h>
#include <lib/perf/perf_counter.h>
#include <lib/pwm_limit/pwm_limit.h>
#include <lib/output_limit/output_limit.h>
#include <px4_atomic.h>
#include <px4_module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
@@ -177,8 +177,8 @@ private:
Command _command; ///< incoming commands (from another thread)
/**
* Reorder PWM outputs according to _param_mot_ordering
* @param values PWM values to reorder
* Reorder outputs according to _param_mot_ordering
* @param values values to reorder
*/
inline void reorderOutputs(uint16_t values[MAX_ACTUATORS]);
@@ -192,7 +192,7 @@ private:
uint16_t _min_value[MAX_ACTUATORS] {};
uint16_t _max_value[MAX_ACTUATORS] {};
uint16_t _reverse_output_mask{0}; ///< reverses the interval [min, max] -> [max, min], NOT motor direction
pwm_limit_t _pwm_limit;
output_limit_t _output_limit;
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _safety_sub{ORB_ID(safety)};