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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
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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