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OutputModuleInterface::updateOutputs return bool to control actuator_outputs pub

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Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.

Works with HIL too.
This commit is contained in:
Beat Küng
2019-10-21 09:42:08 +02:00
parent 380247168d
commit a8f6622831
6 changed files with 36 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/dshot/dshot.cpp
+5 -3
View File
@@ -146,7 +146,7 @@ public:
hrt_abstime edge_time, uint32_t edge_state,
uint32_t overflow);
void updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
void mixerChanged() override;
@@ -686,11 +686,11 @@ void DShotOutput::mixerChanged()
updateTelemetryNumMotors();
}
void DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
if (!_outputs_on) {
return;
return false;
}
int requested_telemetry_index = -1;
@@ -740,6 +740,8 @@ void DShotOutput::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS
if (stop_motors || num_control_groups_updated > 0) {
up_dshot_trigger();
}
return true;
}
void
src/drivers/pwm_out_sim/PWMSim.cpp
+4 -2
View File
@@ -79,11 +79,13 @@ PWMSim::Run()
_mixing_output.updateSubscriptions(true);
}
void
bool
PWMSim::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{
// nothing to do, as we are only interested in the actuator_outputs topic publication
// Nothing to do, as we are only interested in the actuator_outputs topic publication.
// That should only be published once we receive actuator_controls (important for lock-step to work correctly)
return num_control_groups_updated > 0;
}
int
src/drivers/pwm_out_sim/PWMSim.hpp
+1 -1
View File
@@ -66,7 +66,7 @@ public:
int ioctl(device::file_t *filp, int cmd, unsigned long arg) override;
void updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
src/drivers/px4fmu/fmu.cpp
+5 -3
View File
@@ -156,7 +156,7 @@ public:
void update_pwm_trims();
void updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated) override;
private:
@@ -719,11 +719,11 @@ PX4FMU::update_pwm_out_state(bool on)
}
void PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
bool PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
if (_test_mode) {
return;
return false;
}
/* output to the servos */
@@ -739,6 +739,8 @@ void PX4FMU::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
if (num_control_groups_updated > 0) {
up_pwm_update();
}
return true;
}
void