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Merge pull request #1001 from PX4/pwm_limits

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Pwm limits
This commit is contained in:
Lorenz Meier 2014-05-24 02:32:29 -07:00
commit ac7caf1e27
3 changed files with 19 additions and 5 deletions
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9
src/drivers/px4fmu/fmu.cpp
View File

@ -648,11 +648,9 @@ PX4FMU::task_main()
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i >= outputs.noutputs ||
!isfinite(outputs.output[i]) ||
outputs.output[i] < -1.0f ||
outputs.output[i] > 1.0f) {
/* last resort: catch NaN and INF */
if ((i >= outputs.noutputs) ||
!isfinite(outputs.output[i])) {
/*
* Value is NaN, INF or out of band - set to the minimum value.
* This will be clearly visible on the servo status and will limit the risk of accidentally
@ -664,6 +662,7 @@ PX4FMU::task_main()
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */

1
src/modules/px4iofirmware/mixer.cpp
View File

@ -213,6 +213,7 @@ mixer_tick(void)
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
in_mixer = false;
/* the pwm limit call takes care of out of band errors */
pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit);
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)

14
src/modules/systemlib/pwm_limit/pwm_limit.c
View File

@ -136,12 +136,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < ramp_min_pwm) {
effective_pwm[i] = ramp_min_pwm;
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
}
break;
case PWM_LIMIT_STATE_ON:
for (unsigned i=0; i<num_channels; i++) {
effective_pwm[i] = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {
effective_pwm[i] = min_pwm[i];
} else if (effective_pwm[i] > max_pwm[i]) {
effective_pwm[i] = max_pwm[i];
}
}
break;
default: