fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 23:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vtol_type: avoid code duplication

Browse Source 
- created one method which has access to the pwm output device

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 733d773bcc
commit bd434636e9
2 changed files with 43 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/vtol_type.cpp
+26 -46
View File
@@ -256,16 +256,7 @@ void VtolType::check_quadchute_condition()
bool VtolType::set_idle_mc()
{
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = px4_open(dev, 0);
if (fd < 0) {
PX4_WARN("can't open %s", dev);
return false;
}
unsigned servo_count;
int ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
unsigned pwm_value = _params->idle_pwm_mc;
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
@@ -275,18 +266,24 @@ bool VtolType::set_idle_mc()
pwm_values.channel_count++;
}
ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_WARN("failed setting min values");
}
px4_close(fd);
return ret == PX4_OK;
return apply_pwm_limits(pwm_values, pwm_limit_type::TYPE_MINIMUM);
}
bool VtolType::set_idle_fw()
{
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
for (int i = 0; i < _params->vtol_motor_count; i++) {
pwm_values.values[i] = PWM_MOTOR_OFF;
pwm_values.channel_count++;
}
return apply_pwm_limits(pwm_values, pwm_limit_type::TYPE_MINIMUM);
}
bool VtolType::apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_type type)
{
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = px4_open(dev, 0);
@@ -296,25 +293,22 @@ bool VtolType::set_idle_fw()
return false;
}
struct pwm_output_values pwm_values;
int ret;
memset(&pwm_values, 0, sizeof(pwm_values));
if (type == pwm_limit_type::TYPE_MINIMUM) {
ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
for (int i = 0; i < _params->vtol_motor_count; i++) {
pwm_values.values[i] = PWM_MOTOR_OFF;
pwm_values.channel_count++;
} else {
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
}
int ret = px4_ioctl(fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
PX4_WARN("failed setting min values");
PX4_ERR("failed setting max values");
return false;
}
px4_close(fd);
return ret == PX4_OK;
return true;
}
motor_state VtolType::set_motor_state(const motor_state current_state, const motor_state next_state, const int value)
@@ -360,25 +354,12 @@ motor_state VtolType::set_motor_state(const motor_state current_state, const mot
break;
}
const char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = px4_open(dev, 0);
if (apply_pwm_limits(pwm_values, pwm_limit_type::TYPE_MAXIMUM)) {
return next_state;
if (fd < 0) {
PX4_WARN("can't open %s", dev);
} else {
return current_state;
}
int ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
px4_close(fd);
if (ret != OK) {
PX4_ERR("failed setting max values");
return current_state;
}
return next_state;
}
bool VtolType::is_motor_off_channel(const int channel)
@@ -400,5 +381,4 @@ bool VtolType::is_motor_off_channel(const int channel)
}
return (channel_bitmap >> channel) & 1;
}
src/modules/vtol_att_control/vtol_type.h
+17 -1
View File
@@ -98,6 +98,14 @@ enum motor_state {
VALUE // motor max pwm will be set to a specific value provided, see set_motor_state()
};
/**
* @brief Used to specify if min or max pwm values should be altered
*/
enum pwm_limit_type {
TYPE_MINIMUM = 0,
TYPE_MAXIMUM
};
class VtolAttitudeControl;
class VtolType
@@ -247,7 +255,15 @@ private:
struct pwm_output_values _max_mc_pwm_values {};
struct pwm_output_values _disarmed_pwm_values {};
/**
* @brief Adjust minimum/maximum pwm values for the output channels.
*
* @param pwm_output_values Struct containing the limit values for each channel
* @param[in] type Specifies if min or max limits are adjusted.
*
* @return True on success.
*/
bool apply_pwm_limits(struct pwm_output_values &pwm_values, pwm_limit_type type);
/**
* @brief Determines if this channel is one selected by VT_FW_MOT_OFFID