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Added actuator control removal

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Lorenz Meier
2013-12-13 16:52:35 +01:00
parent c46bd8b041 63d81ba415
commit c311462f3c
9 changed files with 41 additions and 200 deletions
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src/drivers/px4io/px4io.cpp
+1 -55
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@@ -73,7 +73,6 @@
#include <systemlib/param/param.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
@@ -260,14 +259,12 @@ private:
/* advertised topics */
orb_advert_t _to_input_rc; ///< rc inputs from io
orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
orb_advert_t _to_outputs; ///< mixed servo outputs topic
orb_advert_t _to_battery; ///< battery status / voltage
orb_advert_t _to_servorail; ///< servorail status
orb_advert_t _to_safety; ///< status of safety
actuator_outputs_s _outputs; ///<mixed outputs
actuator_controls_effective_s _controls_effective; ///<effective controls
bool _primary_pwm_device; ///<true if we are the default PWM output
@@ -330,11 +327,6 @@ private:
*/
int io_publish_raw_rc();
/**
* Fetch and publish the mixed control values.
*/
int io_publish_mixed_controls();
/**
* Fetch and publish the PWM servo outputs.
*/
@@ -475,7 +467,6 @@ PX4IO::PX4IO(device::Device *interface) :
_t_param(-1),
_t_vehicle_command(-1),
_to_input_rc(0),
_to_actuators_effective(0),
_to_outputs(0),
_to_battery(0),
_to_servorail(0),
@@ -843,8 +834,7 @@ PX4IO::task_main()
/* get raw R/C input from IO */
io_publish_raw_rc();
/* fetch mixed servo controls and PWM outputs from IO */
io_publish_mixed_controls();
/* fetch PWM outputs from IO */
io_publish_pwm_outputs();
}
@@ -1366,50 +1356,6 @@ PX4IO::io_publish_raw_rc()
return OK;
}
int
PX4IO::io_publish_mixed_controls()
{
/* if no FMU comms(!) just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
return OK;
/* if not taking raw PPM from us, must be mixing */
if (_status & PX4IO_P_STATUS_FLAGS_RAW_PWM)
return OK;
/* data we are going to fetch */
actuator_controls_effective_s controls_effective;
controls_effective.timestamp = hrt_absolute_time();
/* get actuator controls from IO */
uint16_t act[_max_actuators];
int ret = io_reg_get(PX4IO_PAGE_ACTUATORS, 0, act, _max_actuators);
if (ret != OK)
return ret;
/* convert from register format to float */
for (unsigned i = 0; i < _max_actuators; i++)
controls_effective.control_effective[i] = REG_TO_FLOAT(act[i]);
/* laxily advertise on first publication */
if (_to_actuators_effective == 0) {
_to_actuators_effective =
orb_advertise((_primary_pwm_device ?
ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
ORB_ID(actuator_controls_effective_1)),
&controls_effective);
} else {
orb_publish((_primary_pwm_device ?
ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE :
ORB_ID(actuator_controls_effective_1)),
_to_actuators_effective, &controls_effective);
}
return OK;
}
int
PX4IO::io_publish_pwm_outputs()
{