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AP_HAL_PX4: set default servo update rate only when changed 

This removes the chance a small switch occurring whenever this function is called
This commit is contained in:
Randy Mackay 2017-07-25 12:13:40 +09:00
parent 3d13d98410
commit 687ec98e5d
2 changed files with 10 additions and 4 deletions
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13
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -644,10 +644,15 @@ void PX4RCOutput::set_output_mode(enum output_mode mode)
// set default output update rate // set default output update rate
void PX4RCOutput::set_default_rate(uint16_t rate_hz) void PX4RCOutput::set_default_rate(uint16_t rate_hz)
{ {
ioctl(_pwm_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz); if (rate_hz != _default_rate_hz) {
if (_alt_fd != -1) { // set servo update rate for first 8 pwm channels
ioctl(_alt_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz); ioctl(_pwm_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz);
} if (_alt_fd != -1) {
// set servo update rate for auxiliary channels
ioctl(_alt_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz);
}
_default_rate_hz = rate_hz;
}
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD

1
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -82,4 +82,5 @@ private:
enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE; enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE;
uint32_t _safety_state_request_last_ms = 0; uint32_t _safety_state_request_last_ms = 0;
void force_safety_pending_requests(void); void force_safety_pending_requests(void);
uint16_t _default_rate_hz = 50;
}; };