This adds the option to limit the rate of change (slew rate) of an output that's mixed by a simple mixer.
To enable it, a positive number has to be added at the end (6th number) of the output scaler line of the mixer,
specifying the min rise time of this output.
E.g. O: 10000 10000 0 -10000 10000 20000 for a rise time of 2s, resp. a max slew rate of 0.5s^-1.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
sensors having mixer_module creates a dependency on sensors for
the param MOT_SLEW_MAX. Things that do not uses sensors.
IE. PWM only device should not have to include them.
I changed the input constraint in #15349 but screwed up the usage
because I was convinced it's püass by reference. I'll double check
for sure next time.
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
This fixes the case where the mixer_module would subscribe and use its
own test_motor publication which was created only to make sure the
topic is advertised and subsequent updates will work properly.
This happened in SITL lockstep because the timestamp would be 0 at the
very beginning, and hence elapsed time would be 0 as well.
This lead to an actuator publication which would then get lockstep out
of sync causing poll errors on the Gazebo side.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
Required for pwm_out_sim: only publish actuator_outputs when we get
actuator_controls. Otherwise lockstep startup does not work.
The issue was there before but hidden, due to a long poll timeout.
Works with HIL too.
Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
The documentation of the thrust model parameter `THR_MDL_FAC` did not
mention both thrust and "PWM" being relative values. Also the use of the
term PWM could be misleading, since the model is applicable to CAN ESCs
as well.
This commit rephrases the user documentation string and a few source
code comments, but no logic changes are made.
ClosesPX4/Firmware#13105
* adds a work_queue systemcmd that will bring a tree view of all active work queues and work items
* WorkQueues now track attached WorkItems and will shutdown when the last WorkItem is detached
added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
Julien Lecoeur