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Adressed performance concern and fixed a copy paste bug

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This commit is contained in:
Julian Oes
2013-06-18 10:00:42 +02:00
parent cc452834c0
commit b5f4f1ee80
3 changed files with 24 additions and 9 deletions
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src/modules/px4iofirmware/mixer.cpp
+9 -2
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@@ -62,7 +62,7 @@ extern "C" {
/*
* Time that the ESCs need to initialize
*/
#define ESC_INIT_TIME_US 500000
#define ESC_INIT_TIME_US 2000000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
@@ -75,6 +75,7 @@ extern "C" {
static bool mixer_servos_armed = false;
static uint64_t time_armed;
static bool init_complete = false;
/* selected control values and count for mixing */
enum mixer_source {
@@ -177,6 +178,10 @@ mixer_tick(void)
/* mix */
mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
if (!init_complete && mixer_servos_armed && (hrt_elapsed_time(&time_armed) > ESC_INIT_TIME_US)) {
init_complete = true;
}
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
@@ -184,7 +189,7 @@ mixer_tick(void)
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
/* scale to control range after init time */
if (mixer_servos_armed && (hrt_elapsed_time(&time_armed) > ESC_INIT_TIME_US)) {
if (init_complete) {
r_page_servos[i] = (outputs[i]
* (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
+ (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
@@ -222,11 +227,13 @@ mixer_tick(void)
up_pwm_servo_arm(true);
mixer_servos_armed = true;
time_armed = hrt_absolute_time();
init_complete = false;
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
init_complete = false;
}
if (mixer_servos_armed) {