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mixer_module: send a last sample out after all outputs were disabled 

This matters for PWM when the last output gets disabled on either FMU or IO
it would just keep on running.

Also when rebooting with a parameters reset or new airframe with no mapped outputs
it would previously keep outputting PWM with the disarmed value of the new airframe
e.g. 1000us which is a safety hazard because servos could break the physical limit of the
model or miscalibrated ESCs spinning motors.
This commit is contained in:
Matthias Grob 2024-02-26 12:04:54 +01:00
parent 1096384a38
commit b5f6699f2e
3 changed files with 11 additions and 3 deletions
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5
src/lib/mixer_module/mixer_module.cpp
View File

@ -455,7 +455,8 @@ bool MixingOutput::update()
}
}
if (!all_disabled) {
// Send output if any function mapped or one last disabling sample
if (!all_disabled || !_was_all_disabled) {
if (!_armed.armed && !_armed.manual_lockdown) {
_actuator_test.overrideValues(outputs, _max_num_outputs);
}
@ -463,6 +464,8 @@ bool MixingOutput::update()
limitAndUpdateOutputs(outputs, has_updates);
}
_was_all_disabled = all_disabled;
return true;
}

1
src/lib/mixer_module/mixer_module.hpp
View File

@ -288,6 +288,7 @@ private:
hrt_abstime _lowrate_schedule_interval{300_ms};
ActuatorTest _actuator_test{_function_assignment};
uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
bool _was_all_disabled{false};
uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback

8
src/lib/mixer_module/mixer_module_tests.cpp
View File

@ -191,11 +191,15 @@ TEST_F(MixerModuleTest, basic)
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(test_module.num_updates, 0);
// all functions disabled: not expected to get an update
// all functions disabled: expect to get one single update to process disabling the output signal
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 0);
EXPECT_EQ(test_module.num_updates, 1);
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 1);
test_module.reset();
// configure motor, ensure all still disarmed