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px4iofirmware: only set mixer trims when they got updated

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This commit is contained in:
Andreas Antener
2018-08-05 23:24:57 +02:00
committed by Lorenz Meier
parent 5500dfc550
commit e0dc5ae7f4
3 changed files with 14 additions and 4 deletions
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src/modules/px4iofirmware/mixer.cpp
+9 -4
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@@ -249,10 +249,12 @@ mixer_tick(void)
}
/*
* Set simple mixer trim values
* (there should be a "dirty" flag to indicate that r_page_servo_control_trim has changed)
* Set simple mixer trim values. If the OK flag is set the mixer is fully loaded.
*/
mixer_group.set_trims(r_page_servo_control_trim, PX4IO_SERVO_COUNT);
if (update_trims && r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
update_trims = false;
mixer_group.set_trims(r_page_servo_control_trim, PX4IO_SERVO_COUNT);
}
/*
* Update air-mode parameter
@@ -289,7 +291,6 @@ mixer_tick(void)
mixer_group.set_max_delta_out_once(delta_out_max);
}
/* mix */
/* update parameter for mc thrust model if it updated */
if (update_mc_thrust_param) {
mixer_group.set_thrust_factor(REG_TO_FLOAT(r_setup_thr_fac));
@@ -551,6 +552,10 @@ mixer_handle_text(const void *buffer, size_t length)
/* disable mixing, will be enabled once load is complete */
PX4_ATOMIC_MODIFY_CLEAR(r_status_flags, PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* set the update flags to dirty so we reload those values after a mixer change */
update_trims = true;
update_mc_thrust_param = true;
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
return 1;