DSM binding was disabled before if safety was off, which on a lot of multicopters is today the default. The logic is now checking instead for wether the system is armed.
- verify register writes
- cleanly reset on lighting mode changes as per the datasheet
- perf counters for mode switches and other errors
- cleanly reset on false motion detection
- minimize sleep on reset
- allowing setting custom rotation yaw angle directly on command line with -Y (ignoring SENS_FLOW_ROT)
- enable LED output
- split out switches from manual_control_setpoint into new message manual_control_switches
- manual_control_switches published at minimal rate (~ 1 Hz) or immediately on change
- simple switch debounce in rc_update (2 consecutive identical decodes required)
- manual_control_switches logged at full rate rather than sampled at (5-10% of messages logged)
- manual_control_setpoint publish at minimal rate unless changing
- commander handle landing gear switch for manual modes
- processing of mode_slot and mode_switch is now split so we only do one or the other (not both)
- a future step will be to finally drop mode_switch and accompanying switches entirely
Co-authored-by: Matthias Grob <maetugr@gmail.com>
* Break out dshot.h from dshot.cpp and rename files to reflect the class name.
Move DShot class specific #defines from drv_pwm_output.h to dshot.h.
Replace c-style casts with static_casts, standardize method naming, single line comment styles, and formatting.
Rename update_dshot_out_state() to enable_dshot_outputs().
src/lib/tunes already knows which tunes are interruptable, so add
return values to expose than and use than in tone_alarm.
This fixes the issue that repeating tunes cannot be interrupted without
tune_override set to true.
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
Useful for navio2 or px4_raspberrypi when attaching a secondary (UART) GPS through one of the USB ports; the default navio2 onboard GPS is running on spi.
Example usage:
gps start -d /dev/spidev0.0 -i spi -e /dev/ttyACM0 -j uart -p ubx
Adds automatic control of more light types via UAVCAN. Publishes
commands for beacon, strobe, nav, and landings lights. Each is
automatically controlled based on arming state and this behavior is
configurable per light type via params. For example, nav lights can be
set to be always on while beacons turn on when the system is prearmed
and strobes turn on only when armed.
Fixes
src/drivers/dshot/dshot.cpp:1408:9: error: declaration of
'struct DShotOutput::custom_command(int, char**)::Command' shadows
a previous local [-Werror=shadow]
Daniel Agar