dbfdfa2261
this affected vehicles with high rates on upper channels, such as hexa and octa quadplanes. The bug caused the rates set on the upper channels to also be set on the primary channels, which means the low channels containing aileron, elevator etc ran at 400Hz instead of 50Hz, resulting in potential damage to the servos
78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
#pragma once
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#include "AP_HAL_PX4.h"
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#include <systemlib/perf_counter.h>
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#include <uORB/topics/actuator_outputs.h>
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#include <uORB/topics/actuator_armed.h>
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#define PX4_NUM_OUTPUT_CHANNELS 16
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class PX4::PX4RCOutput : public AP_HAL::RCOutput
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{
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public:
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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uint16_t read_last_sent(uint8_t ch) override;
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void read_last_sent(uint16_t* period_us, uint8_t len) override;
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void set_safety_pwm(uint32_t chmask, uint16_t period_us) override;
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void set_failsafe_pwm(uint32_t chmask, uint16_t period_us) override;
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bool force_safety_on(void) override;
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void force_safety_off(void) override;
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void force_safety_no_wait(void) override;
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void set_esc_scaling(uint16_t min_pwm, uint16_t max_pwm) override {
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_esc_pwm_min = min_pwm;
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_esc_pwm_max = max_pwm;
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}
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void cork();
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void push();
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void set_output_mode(enum output_mode mode) override;
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void timer_tick(void) override;
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bool enable_sbus_out(uint16_t rate_hz) override;
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private:
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int _pwm_fd;
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int _alt_fd;
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uint16_t _freq_hz;
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uint16_t _period[PX4_NUM_OUTPUT_CHANNELS];
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volatile uint8_t _max_channel;
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volatile bool _need_update;
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bool _sbus_enabled:1;
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perf_counter_t _perf_rcout;
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uint32_t _last_output;
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uint32_t _last_config_us;
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unsigned _servo_count;
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unsigned _alt_servo_count;
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uint32_t _rate_mask_main;
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uint32_t _rate_mask_alt;
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uint16_t _enabled_channels;
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struct {
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int pwm_sub;
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actuator_outputs_s outputs;
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} _outputs[ORB_MULTI_MAX_INSTANCES] {};
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actuator_armed_s _armed;
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orb_advert_t _actuator_direct_pub = nullptr;
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orb_advert_t _actuator_armed_pub = nullptr;
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uint16_t _esc_pwm_min = 0;
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uint16_t _esc_pwm_max = 0;
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void _init_alt_channels(void);
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void _publish_actuators(void);
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void _arm_actuators(bool arm);
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void set_freq_fd(int fd, uint32_t chmask, uint16_t freq_hz, uint32_t &rate_mask);
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bool _corking;
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enum output_mode _output_mode = MODE_PWM_NORMAL;
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void _send_outputs(void);
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enum AP_HAL::Util::safety_state _safety_state_request = AP_HAL::Util::SAFETY_NONE;
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uint32_t _safety_state_request_last_ms = 0;
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void force_safety_pending_requests(void);
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};
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