fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 22:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

pwm_out_sim: don't advertise garbage

Browse Source
This commit is contained in:
Julian Oes
2019-09-04 09:21:54 -07:00
committed by Daniel Agar
parent f6a5c7cca9
commit c8d13bacf2
2 changed files with 6 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pwm_out_sim/PWMSim.cpp
+3 -5
View File
@@ -161,9 +161,6 @@ PWMSim::run()
_armed_sub = orb_subscribe(ORB_ID(actuator_armed)); _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_actuator_outputs);
update_params(); update_params();
int params_sub = orb_subscribe(ORB_ID(parameter_update)); int params_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -293,9 +290,10 @@ PWMSim::run()
orb_publish_auto(ORB_ID(multirotor_motor_limits), &_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT); orb_publish_auto(ORB_ID(multirotor_motor_limits), &_mixer_status, &motor_limits, &instance, ORB_PRIO_DEFAULT);
} }
/* and publish for anyone that cares to see */
_actuator_outputs.timestamp = hrt_absolute_time(); _actuator_outputs.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_actuator_outputs);
_outputs_pub.publish(_actuator_outputs);
// use first valid timestamp_sample for latency tracking // use first valid timestamp_sample for latency tracking
for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) { for (int i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
src/drivers/pwm_out_sim/PWMSim.hpp
+3 -2
View File
@@ -45,6 +45,7 @@
#include <px4_module.h> #include <px4_module.h>
#include <px4_tasks.h> #include <px4_tasks.h>
#include <px4_time.h> #include <px4_time.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_outputs.h>
@@ -109,8 +110,8 @@ private:
int _armed_sub{-1}; int _armed_sub{-1};
actuator_outputs_s _actuator_outputs = {}; actuator_outputs_s _actuator_outputs {};
orb_advert_t _outputs_pub{nullptr}; uORB::Publication<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs)};
orb_advert_t _mixer_status{nullptr}; orb_advert_t _mixer_status{nullptr};
unsigned _num_outputs{0}; unsigned _num_outputs{0};