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PWM automatic trigger system (ATS) for parachutes (#13726)

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* parameter and logic to commander for triggering failsafe from external automatic trigger system.
* logic to startup script for enabling ATS. Added uORB publishing to pwm_input module.
* Refactored out CDev usage from pwm_input and ll40ls. Refactored out ll40ls specifics from pwm_input and cleaned up dead code.
This commit is contained in:
Jacob Dahl
2020-01-06 20:14:06 -05:00
committed by Daniel Agar
parent 5d110101b5
commit d08ec05bab
13 changed files with 350 additions and 566 deletions
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msg/pwm_input.msg
+2 -2
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@@ -1,4 +1,4 @@
uint64 timestamp # time since system start (microseconds)
uint64 error_count
uint64 timestamp # Time since system start (microseconds)
uint64 error_count # Timer overcapture error flag (AUX5 or MAIN5)
uint32 pulse_width # Pulse width, timer counts
uint32 period # Period, timer counts
msg/vehicle_status.msg
+1
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@@ -15,6 +15,7 @@ uint8 FAILURE_NONE = 0
uint8 FAILURE_ROLL = 1 # (1 << 0)
uint8 FAILURE_PITCH = 2 # (1 << 1)
uint8 FAILURE_ALT = 4 # (1 << 2)
uint8 FAILURE_EXT = 8 # (1 << 3)
# HIL
uint8 HIL_STATE_OFF = 0