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lib/mixer_module: added a constant instance start so that when instance start is changed in actuator yaml files they parameters are able to be used (#23616)

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Co-authored-by: Luca Scheuer <luca.scheuer@iq-control.com>
This commit is contained in:
LucaS 2024-08-26 13:51:09 -05:00 committed by GitHub
parent 16c77be7c0
commit ca47f6f016
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GPG Key ID: B5690EEEBB952194
2 changed files with 10 additions and 10 deletions
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16
src/lib/mixer_module/mixer_module.cpp
View File

@ -67,7 +67,7 @@ static const FunctionProvider all_function_providers[] = {
};
MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up) :
SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up, const uint8_t instance_start) :
ModuleParams(&interface),
_output_ramp_up(ramp_up),
_scheduling_policy(scheduling_policy),
@ -87,7 +87,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou
px4_sem_init(&_lock, 0, 1);
initParamHandles();
initParamHandles(instance_start);
for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
_failsafe_value[i] = UINT16_MAX;
@ -108,20 +108,20 @@ MixingOutput::~MixingOutput()
_outputs_pub.unadvertise();
}
void MixingOutput::initParamHandles()
void MixingOutput::initParamHandles(const uint8_t instance_start)
{
char param_name[17];
for (unsigned i = 0; i < _max_num_outputs; ++i) {
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + instance_start);
_param_handles[i].function = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + 1);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + instance_start);
_param_handles[i].disarmed = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + 1);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + instance_start);
_param_handles[i].min = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + 1);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + instance_start);
_param_handles[i].max = param_find(param_name);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1);
snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + instance_start);
_param_handles[i].failsafe = param_find(param_name);
}

4
src/lib/mixer_module/mixer_module.hpp
View File

@ -120,7 +120,7 @@ public:
*/
MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
SchedulingPolicy scheduling_policy,
bool support_esc_calibration, bool ramp_up = true);
bool support_esc_calibration, bool ramp_up = true, const uint8_t instance_start = 1);
~MixingOutput();
@ -221,7 +221,7 @@ private:
void cleanupFunctions();
void initParamHandles();
void initParamHandles(const uint8_t instance_start);
void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates);