fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 05:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Implement settable failsafe values for PWM outputs.

Browse Source 
By default in failsafe mode, PWM output pulses are not generated.
This commit is contained in:
px4dev
2013-01-25 22:58:33 -08:00
parent 900b0d58ef
commit b46d05835b
5 changed files with 44 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/px4io/mixer.cpp
+13 -4
View File
@@ -92,7 +92,7 @@ mixer_tick(void)
/* too long without FMU input, time to go to failsafe */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PPM);
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
debug("AP RX timeout");
}
@@ -102,7 +102,7 @@ mixer_tick(void)
/*
* Decide which set of controls we're using.
*/
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PPM) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) {
/* don't actually mix anything - we already have raw PWM values */
source = MIX_NONE;
@@ -127,7 +127,13 @@ mixer_tick(void)
/*
* Run the mixers.
*/
if (source != MIX_NONE) {
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
r_page_servos[i] = r_page_servo_failsafe[i];
} else if (source != MIX_NONE) {
float outputs[IO_SERVO_COUNT];
unsigned mixed;
@@ -225,9 +231,12 @@ mixer_tick(void)
*
* We must be armed, and we must have a PWM source; either raw from
* FMU or from the mixer.
*
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PPM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
(r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */