fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 13:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

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)

Browse Source 
Co-authored-by: Luca Scheuer <luca.scheuer@iq-control.com>
This commit is contained in:
LucaS
2024-08-26 14:51:09 -04:00
committed by GitHub
co-authored by Luca Scheuer
parent 16c77be7c0
commit ca47f6f016
2 changed files with 10 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mixer_module/mixer_module.cpp
+8 -8
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, 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), ModuleParams(&interface),
_output_ramp_up(ramp_up), _output_ramp_up(ramp_up),
_scheduling_policy(scheduling_policy), _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); px4_sem_init(&_lock, 0, 1);
initParamHandles(); initParamHandles(instance_start);
for (unsigned i = 0; i < MAX_ACTUATORS; i++) { for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
_failsafe_value[i] = UINT16_MAX; _failsafe_value[i] = UINT16_MAX;
@@ -108,20 +108,20 @@ MixingOutput::~MixingOutput()
_outputs_pub.unadvertise(); _outputs_pub.unadvertise();
} }
void MixingOutput::initParamHandles() void MixingOutput::initParamHandles(const uint8_t instance_start)
{ {
char param_name[17]; char param_name[17];
for (unsigned i = 0; i < _max_num_outputs; ++i) { 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); _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); _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); _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); _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); _param_handles[i].failsafe = param_find(param_name);
} }
src/lib/mixer_module/mixer_module.hpp
+2 -2
View File
@@ -120,7 +120,7 @@ public:
*/ */
MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface, MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
SchedulingPolicy scheduling_policy, 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(); ~MixingOutput();
@@ -221,7 +221,7 @@ private:
void cleanupFunctions(); void cleanupFunctions();
void initParamHandles(); void initParamHandles(const uint8_t instance_start);
void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates); void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates);