When running in HITL mode, pwm_out_sim publishes actuator_outputs.
px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.
The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.
The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.
This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.
Signed-off-by: Nik Langrind <langrind@gmail.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.
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
- use the orb topic safety to check the safety state, because the actual
safety state can come from the IO
- fix initialization if circuit breaker is set
The px4io driver was ignoring the contents of PX4IO_P_RAW_RC_NRSSI
since digital rssi wasn't working properly. This change was made in
commit 41b127d40.
Now that PX4IO_P_RAW_RC_NRSSI is returning valid values for digital
rssi, we can re-enable its use.
Daniel Agar