* refactor(mixer_module): change MixingOutput to use float outputs
MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.
* fix(mixer_module): fix float safety issues
-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)
* refactor(mixer_module): float rounding suggestions
* fix(pwm_sim): fix inverted disarmed condition
* fix(mixer_module): more float rounding improvements
* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
In HITL the actuators should not be mapped
and they are in lockdown.
We should not reconfigure disarmed, min, max PWM values
without updating the actual output values because the IO
will consider the last outputs before the FMU was rebooted
with the configuration of the new boot. This can result
in spinning motors when switching to SIH.
The param is not really required anymore with the actuator
configuration. Also, when it is set to 0, RC doesn't work for some
boards which would be nice to avoid.
Signed-off-by: Julian Oes <julian@oes.ch>
This allows to consistently define:
Motor stopped - disarmed PWM
Motor idling - minimum PWM
Motor at full thrust - maximum PWM
Any allocation can then distinctly decide if
a motor should be running or not depending
on the context and also explicitly command that.
Before, the logic to update disarm and rate values also triggered during
bootup on the px4io, because the output functions are only set in
updateSubscriptions().
Therefore change the check to prevent updating during the first cycle.
- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
This fixes an invalid memory access when exiting the module:
exit_and_cleanup destroys the object, but lock_guard is destructed after
and accesses the lock.
- fixes the deadlock in px4io ioctl mixer reset
- px4io Run() locks (CDev semaphore)
- mixer load goes through px4io ioctl MIXERIOCRESET which calls MixingOutput::resetMixerThreadSafe()
- MixingOutput::resetMixerThreadSafe() stores a Command::Type::resetMixer command in an atomic variable, schedules a work queue cycle, then sleep spins until the command is cleared
- the execution of the cycle eventually calls back into PX4IO::updateOutputs(), which tries to lock (and waits forever)
- previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data
- by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers
and remove the possibility to set min > max to reverse.
Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
Jacob Dahl