There are settings that have to be the same for a split output across multiple instances, like for example the PWM mask and rate configurations. This change collects them for all outputs of the same underlying driver structure and applies the complete set.
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
- generate PWM_MAIN 1-14
- generate PWM_AUX 1-8
- generate PWM_EXTRA 1-8
- px4io and pwm_out directly read configuration parameters
- only available and active physical outputs are actually shown for configuration
- overall saves flash despite adding many new parameters
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
_num_outputs is set according to the mode_pwmX call, which is required
for camera triggering.
This fixes camera triggering via PWM, as it avoids overwriting the channel.
- this is done to minimize real end-to-end latency
- actual pulse width only updated for next period regardless of output module
- add cycle interval perf counter
Lorenz Meier