fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 05:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Out of memory warning, flash and RAM optimizations

Browse Source
This commit is contained in:
Lorenz Meier
2013-02-23 12:02:00 +01:00
parent be40845177
commit a704acc2a2
6 changed files with 34 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4io/mixer.cpp
+1 -66
View File
@@ -157,71 +157,6 @@ mixer_tick(void)
r_page_servos[i] = 0;
}
#if 0
/* if everything is ok */
if (!system_state.mixer_manual_override && system_state.mixer_fmu_available) {
/* we have recent control data from the FMU */
control_count = PX4IO_CONTROL_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
} else if (system_state.rc_channels > 0) {
/* when override is on or the fmu is not available, but RC is present */
control_count = system_state.rc_channels;
sched_lock();
/* remap roll, pitch, yaw and throttle from RC specific to internal ordering */
rc_channel_data[ROLL] = system_state.rc_channel_data[system_state.rc_map[ROLL] - 1];
rc_channel_data[PITCH] = system_state.rc_channel_data[system_state.rc_map[PITCH] - 1];
rc_channel_data[YAW] = system_state.rc_channel_data[system_state.rc_map[YAW] - 1];
rc_channel_data[THROTTLE] = system_state.rc_channel_data[system_state.rc_map[THROTTLE] - 1];
//rc_channel_data[OVERRIDE] = system_state.rc_channel_data[system_state.rc_map[OVERRIDE] - 1];
/* get the remaining channels, no remapping needed */
for (unsigned i = 4; i < system_state.rc_channels; i++) {
rc_channel_data[i] = system_state.rc_channel_data[i];
}
/* scale the control inputs */
rc_channel_data[THROTTLE] = ((float)(rc_channel_data[THROTTLE] - system_state.rc_min[THROTTLE]) /
(float)(system_state.rc_max[THROTTLE] - system_state.rc_min[THROTTLE])) * 1000.0f + 1000;
if (rc_channel_data[THROTTLE] > 2000) {
rc_channel_data[THROTTLE] = 2000;
}
if (rc_channel_data[THROTTLE] < 1000) {
rc_channel_data[THROTTLE] = 1000;
}
// lowsyslog("Tmin: %d Ttrim: %d Tmax: %d T: %d \n",
// (int)(system_state.rc_min[THROTTLE]), (int)(system_state.rc_trim[THROTTLE]),
// (int)(system_state.rc_max[THROTTLE]), (int)(rc_channel_data[THROTTLE]));
control_values = &rc_channel_data[0];
sched_unlock();
} else {
/* we have no control input (no FMU, no RC) */
// XXX builtin failsafe would activate here
control_count = 0;
}
//lowsyslog("R: %d P: %d Y: %d T: %d \n", control_values[0], control_values[1], control_values[2], control_values[3]);
/* this is for multicopters, etc. where manual override does not make sense */
} else {
/* if the fmu is available whe are good */
if (system_state.mixer_fmu_available) {
control_count = PX4IO_CONTROL_CHANNELS;
control_values = &system_state.fmu_channel_data[0];
/* we better shut everything off */
} else {
control_count = 0;
}
}
#endif
/*
* Decide whether the servos should be armed right now.
*
@@ -301,7 +236,7 @@ mixer_handle_text(const void *buffer, size_t length)
px4io_mixdata *msg = (px4io_mixdata *)buffer;
isr_debug(2, "mixer text %u", length);
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
return;