mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 09:10:34 +08:00
Gennaro Guidone
00b27c56a8
* refactor(mixer_module): change MixingOutput to use float outputs MixingOutput now passes float values to output drivers instead of uint16_t. This removes the need for the 8192 offset encoding and allows reversible motors to receive negative values directly. * fix(mixer_module): fix float safety issues -EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues -GZMixingInterface: add explicit double cast to prevent compilation error -PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour -mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour) * refactor(mixer_module): float rounding suggestions * fix(pwm_sim): fix inverted disarmed condition * fix(mixer_module): more float rounding improvements * fix(mixer_module_tests): use casting method which are now in drivers for rounding tests --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <lib/mixer_module/mixer_module.hpp>
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#include <gz/msgs.hh>
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#include <gz/transport.hh>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/esc_status.h>
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// GZBridge mixing class for ESCs.
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// It is separate from GZBridge to have separate WorkItems and therefore allowing independent scheduling
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// All work items are expected to run on the same work queue.
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class GZMixingInterfaceESC : public OutputModuleInterface
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{
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public:
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static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;
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GZMixingInterfaceESC(gz::transport::Node &node) :
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OutputModuleInterface(MODULE_NAME "-actuators-esc", px4::wq_configurations::rate_ctrl),
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_node(node)
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{}
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bool updateOutputs(float outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) override;
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MixingOutput &mixingOutput() { return _mixing_output; }
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bool init(const std::string &model_name);
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void stop()
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{
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_mixing_output.unregister();
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ScheduleClear();
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}
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private:
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friend class GZBridge;
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void Run() override;
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void motorSpeedCallback(const gz::msgs::Actuators &actuators);
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gz::transport::Node &_node;
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pthread_mutex_t _node_mutex;
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MixingOutput _mixing_output{"SIM_GZ_EC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
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gz::transport::Node::Publisher _actuators_pub;
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uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
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};
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