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Merge pull request #2008 from PX4/mixer_limit_publication

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fixed publication of mixer limit flags
This commit is contained in:
Lorenz Meier
2015-04-12 23:37:45 +02:00
parent 989aba363d 555e96a37a
commit ac6ffd36d9
16 changed files with 69 additions and 48 deletions
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src/drivers/hil/hil.cpp
+1 -1
View File
@@ -402,7 +402,7 @@ HIL::task_main()
if (_mixers != nullptr) {
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs, NULL);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
src/drivers/mkblctrl/mkblctrl.cpp
+1 -1
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@@ -536,7 +536,7 @@ MK::task_main()
if (_mixers != nullptr) {
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs);
outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs, NULL);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
src/drivers/px4fmu/fmu.cpp
+1 -1
View File
@@ -664,7 +664,7 @@ PX4FMU::task_main()
}
/* do mixing */
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs);
outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs, NULL);
outputs.timestamp = hrt_absolute_time();
/* iterate actuators */
src/drivers/px4io/px4io.cpp
+20
View File
@@ -88,6 +88,7 @@
#include <uORB/topics/battery_status.h>
#include <uORB/topics/servorail_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <debug.h>
@@ -288,6 +289,7 @@ private:
orb_advert_t _to_battery; ///< battery status / voltage
orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
orb_advert_t _to_mixer_status; ///< mixer status flags
actuator_outputs_s _outputs; ///< mixed outputs
servorail_status_s _servorail_status; ///< servorail status
@@ -513,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
_to_battery(0),
_to_servorail(0),
_to_safety(0),
_to_mixer_status(0),
_outputs{},
_servorail_status{},
_primary_pwm_device(false),
@@ -1687,6 +1690,8 @@ PX4IO::io_publish_pwm_outputs()
{
/* data we are going to fetch */
actuator_outputs_s outputs;
multirotor_motor_limits_s motor_limits;
outputs.timestamp = hrt_absolute_time();
/* get servo values from IO */
@@ -1718,6 +1723,21 @@ PX4IO::io_publish_pwm_outputs()
orb_publish(ORB_ID(actuator_outputs), _to_outputs, &outputs);
}
/* get mixer status flags from IO */
uint16_t mixer_status;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &mixer_status,sizeof(mixer_status)/sizeof(uint16_t));
memcpy(&motor_limits,&mixer_status,sizeof(motor_limits));
if (ret != OK)
return ret;
/* publish mixer status */
if(_to_mixer_status == 0) {
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &motor_limits);
} else {
orb_publish(ORB_ID(multirotor_motor_limits),_to_mixer_status, &motor_limits);
}
return OK;
}