- initialize rc lost with true
- refactor for simpler downstream code-plugin
- allow for the addition of different binding commands
- fix st24 RC lost logic
This was only a problem when running as a task not on the work queue.
The problem was that init() opened the RC serial device, which was then
read in the main loop, which is a different context when run as a task.
Sorry for the large patch :)
- move cleanup into destructor (this was done on the wrong task before)
- move init into init() method
- sensor & peripheral reset do not start/stop fmu anymore
- remove err & errx (they do not release the lock and could lead to dead-
locks)
Ultimate we want this changes that is being backed out herein.
But it is breaking things because it returns the EINVAL
when there is a rate overlap. So the rest of the pwm ioctl
calls then fail and do not set the pulse widths on arming.
As a secondary issue. We sould call up_pwm_servo_init() to
establish the PWM channel allocation early. This then allows
FMU::set_pwm_rate to properly check for improper rate request
not isolate to one group (timer).
The root cause was the replacment of a local variable num_outputs
with the class member _num_outputs.
The effect of a "bad mix" is to return 0 - this clampped the
_num_outputs to 0.
Prior to commit 3b3e2b2 px4fmu: "consolidate usage of output mode"
this would not have been an issue because the local num_outputs
was reset every cycle"
As a secondary issue. We sould call up_pwm_servo_init() to
establish the PWM channel allocation early. This then allows
FMU::set_pwm_rate to properly check for improper rate request
not isolate to one group (timer).
Removed the legacy FMUv4 define that was activating a nonexistent
pull up and on some HW driving the PPM_IN aka RC_IN aka SPEKTRUM_RX
to VDD.
Use the abstaction SPEKTRUM_POWER to enable the interface not
the define for the GPIO pin.
Returned the fmu mixer code to where it updated the HW once
it has a mixer. But only signals a up_pwm_update() for
onshots on actual control update.
Before this change the hw outpuse were not updated.
bresch