- Ramp up and down instead of spinning immediately
- this reduces the adverse influence on FW attitude control
- still stateless, cycle still starts at random phase
- Tuck away in function
- If not standard VTOL or tiltrotor, do nothing to de-risk unintended
usage
- overwrite the motor outputs of the disabled motors in
ControlAllocator::publish_actuator_controls()
- not yet configurable by any params
- gives same output to all motors
- risky if this produces torques already, which is the case:
- for tiltrotors, where only the back motor(s) spin(s) to de-ice
- for standard VTOL if the MC rotors are not exactly centered
around the CG
- for standard VTOL if any motor has failed
* update uavcan hardpoint: add ability to use it via mavlink cmd and during mission and removed send_command() dedicated for usage via mavlink console
* uavcan hardpoint: allow gripper ID 0
---------
Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
Commit 5fe82aa added mutex protection in ~Mavlink() to fix a race
condition when start_helper() deleted an instance without holding the
mutex. However, this caused a deadlock because stop_command() and
destroy_all_instances() already hold mavlink_module_mutex when calling
delete, and the mutex is non-recursive.
Fix by moving instance cleanup to the callers:
- All callers now hold the mutex and remove the instance from
mavlink_module_instances BEFORE calling delete
- The destructor no longer touches mavlink_module_instances
- Event handoff remains in destructor (works because `this` is already
removed from the list when destructor runs)
This hopefully fixes the original race condition while avoiding the
deadlock that caused USB mavlink to hang on reconnect.
* Changed GZMixingInterfaceESC to GZMixingInterfaceMotor
- GZMixingInterfaceMotor checks if there are more than 8 motors configured if its less than 8 it behaves exactly the same as GZMixingInterfaceESC, else it behaves as a PWM motor interface
- This change allows drones with more than 8 motors to be simulated by Gazebo
Fixes#25080
* code quality fix
* Changed GZMixingInterfacMotor back to GZMixingInterfaceESC and changed variable names to match ESC terminology
* formatting issue resolved
* updated interface to support 16 ESCs, allowing the first 8 to report telemetry
* rebased
Balduin