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HLA_PX4: prevent timer disturbance in oneshot mode

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This commit is contained in:
Andrew Tridgell 2016-04-16 18:52:31 +10:00
parent 6df4d11d3f
commit a731caa4ab
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -163,6 +163,11 @@ void PX4RCOutput::set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz)
*/ */
void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{ {
if (_output_mode == MODE_PWM_ONESHOT) {
// changing the output frequency makes no sense in oneshot
// mode, and can disturb the timers causing spurious glitches
return;
}
// greater than 400 doesn't give enough room at higher periods for // greater than 400 doesn't give enough room at higher periods for
// the down pulse // the down pulse
if (freq_hz > 400) { if (freq_hz > 400) {
@ -528,6 +533,10 @@ bool PX4RCOutput::enable_sbus_out(uint16_t rate_hz)
*/ */
void PX4RCOutput::set_output_mode(enum output_mode mode) void PX4RCOutput::set_output_mode(enum output_mode mode)
{ {
if (_output_mode == mode) {
// no change
return;
}
_output_mode = mode; _output_mode = mode;
if (_output_mode == MODE_PWM_ONESHOT) { if (_output_mode == MODE_PWM_ONESHOT) {
ioctl(_pwm_fd, PWM_SERVO_SET_ONESHOT, 1); ioctl(_pwm_fd, PWM_SERVO_SET_ONESHOT, 1);