This fixes the case where oneshot was enabled with multi-instance pwm_out,
triggering oneshot updates too close to each other and as a result could
lead to spinning motors while disarmed.
Using mixers on the IO side had a remote benefit of being able to
override all control surfaces with a radio remote on a fixed wing.
This ended up not being used that much and since the original design
10 years ago (2011) we have been able to convince ourselves that the
overall system stability is at a level where this marginal benefit,
which is not present on multicopters, is not worth the hazzle.
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Daniel Agar <daniel@agar.ca>
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.
Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.
The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
As hardware buttons are not particularly reliable and the user flow is to disable safety then arm, then disarm via software / remote, it makes sense to make the button safety state itself sticky and require it to be reset via software.
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>
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)
And fix some IO bugs:
- PX4IO_P_STATUS_FLAGS_RAW_PWM was never cleared. This meant that after a
'pwm test' command, normal mixing was not possible anymore.
Fixed by remembering when we are in test mode and not sending
PX4IO_PAGE_CONTROLS during that time. PX4IO_P_STATUS_FLAGS_RAW_PWM is
cleared when PX4IO_PAGE_CONTROLS are received.
- when entering test mode w/o specifying all channels, the other channels
were not set at all, which means they could still be set to values from
a previous test call.
This is fixed by setting all channels to disarmed when entering/leaving
test mode.
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
system_state.fmu_data_received_time can be set from an IRQ handler, thus
we need to ensure every read access to it in mixer_tick is atomic.
So we read it once and copy it into a local variable.
Beat Küng