fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 23:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

MixingOutput: remove safety button check

Browse Source 
The assumption is that the system can only ever get into armed state if
the safety button is already off.
This commit is contained in:
Beat Küng
2019-10-21 09:42:08 +02:00
parent 529da7b33e
commit f956bafa4e
2 changed files with 2 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/mixer_module/mixer_module.cpp
+1 -27
View File
@@ -33,7 +33,6 @@
#include "mixer_module.hpp"
#include <lib/circuit_breaker/circuit_breaker.h>
#include <uORB/PublicationQueued.hpp>
#include <px4_log.h>
@@ -67,11 +66,6 @@ _control_latency_perf(perf_alloc(PC_ELAPSED, "control latency"))
_armed.force_failsafe = false;
_armed.in_esc_calibration_mode = false;
// If there is no safety button, disable it on init.
#ifndef GPIO_BTN_SAFETY
_safety_off = true;
#endif
px4_sem_init(&_lock, 0, 1);
// Enforce the existence of the test_motor topic, so we won't miss initial publications
@@ -108,12 +102,6 @@ void MixingOutput::updateParams()
{
ModuleParams::updateParams();
bool safety_disabled = circuit_breaker_enabled_by_val(_param_cbrk_io_safety.get(), CBRK_IO_SAFETY_KEY);
if (safety_disabled) {
_safety_off = true;
}
// update mixer if we have one
if (_mixers) {
if (_param_mot_slew_max.get() <= FLT_EPSILON) {
@@ -296,7 +284,7 @@ bool MixingOutput::update()
/* Update the armed status and check that we're not locked down.
* We also need to arm throttle for the ESC calibration. */
_throttle_armed = (_safety_off && _armed.armed && !_armed.lockdown) || (_safety_off && _armed.in_esc_calibration_mode);
_throttle_armed = (_armed.armed && !_armed.lockdown) || _armed.in_esc_calibration_mode;
if (_armed.armed) {
_motor_test.in_test_mode = false;
@@ -313,7 +301,6 @@ bool MixingOutput::update()
setAndPublishActuatorOutputs(num_motor_test, actuator_outputs);
}
checkSafetyButton();
handleCommands();
return true;
}
@@ -385,24 +372,11 @@ bool MixingOutput::update()
updateLatencyPerfCounter(actuator_outputs);
}
checkSafetyButton();
handleCommands();
return true;
}
void
MixingOutput::checkSafetyButton()
{
if (_safety_sub.updated()) {
safety_s safety;
if (_safety_sub.copy(&safety)) {
_safety_off = !safety.safety_switch_available || safety.safety_off;
}
}
}
void
MixingOutput::setAndPublishActuatorOutputs(unsigned num_outputs, actuator_outputs_s &actuator_outputs)
{
src/lib/mixer_module/mixer_module.hpp
+1 -6
View File
@@ -50,7 +50,6 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/multirotor_motor_limits.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/test_motor.h>
@@ -193,7 +192,6 @@ private:
unsigned motorTest();
void updateOutputSlewrate();
void checkSafetyButton();
void setAndPublishActuatorOutputs(unsigned num_outputs, actuator_outputs_s &actuator_outputs);
void publishMixerStatus(const actuator_outputs_s &actuator_outputs);
void updateLatencyPerfCounter(const actuator_outputs_s &actuator_outputs);
@@ -238,7 +236,6 @@ private:
output_limit_t _output_limit;
uORB::Subscription _armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::SubscriptionCallbackWorkItem _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
uORB::PublicationMulti<actuator_outputs_s> _outputs_pub{ORB_ID(actuator_outputs), ORB_PRIO_DEFAULT};
@@ -250,7 +247,6 @@ private:
hrt_abstime _time_last_mix{0};
unsigned _max_topic_update_interval_us{0}; ///< max _control_subs topic update interval (0=unlimited)
bool _safety_off{false}; ///< State of the safety button from the subscribed _safety_sub topic
bool _throttle_armed{false};
bool _ignore_lockdown{false}; ///< if true, ignore the _armed.lockdown flag (for HIL outputs)
@@ -279,8 +275,7 @@ private:
(ParamInt<px4::params::MC_AIRMODE>) _param_mc_airmode, ///< multicopter air-mode
(ParamFloat<px4::params::MOT_SLEW_MAX>) _param_mot_slew_max,
(ParamFloat<px4::params::THR_MDL_FAC>) _param_thr_mdl_fac, ///< thrust to motor control signal modelling factor
(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering,
(ParamInt<px4::params::CBRK_IO_SAFETY>) _param_cbrk_io_safety
(ParamInt<px4::params::MOT_ORDERING>) _param_mot_ordering
)
};