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px4-firmware
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px4iofirmware: reuse existing disarmed logic for lockdown and `should_always_enable_pwm` 

The existing disarmed logic already handles disabled outputs
it makes sense to reuse it and not have lockdown handled
differently resulting in unexpeced corner cases.
This commit is contained in:
Matthias Grob 2024-03-21 20:14:03 +01:00
parent f17871234b
commit 12584b5e06
1 changed files with 8 additions and 10 deletions
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18
src/modules/px4iofirmware/mixer.cpp
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@ -176,6 +176,14 @@ mixer_tick()
atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE)); atomic_modify_clear(&r_status_flags, (PX4IO_P_STATUS_FLAGS_FAILSAFE));
} }
const bool armed_output = should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE);
const bool disarmed_output = (!armed_output && should_always_enable_pwm)
|| (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN);
if (disarmed_output) {
source = MIX_DISARMED;
}
/* /*
* Run the mixers. * Run the mixers.
*/ */
@ -219,17 +227,7 @@ mixer_tick()
isr_debug(5, "> PWM disabled"); isr_debug(5, "> PWM disabled");
} }
const bool armed_output = should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE);
const bool disarmed_output = (!armed_output && should_always_enable_pwm)
|| (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN);
if (mixer_servos_armed && (armed_output || disarmed_output)) { if (mixer_servos_armed && (armed_output || disarmed_output)) {
if (disarmed_output) {
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_disarmed[i];
}
}
/* update the servo outputs. */ /* update the servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servos[i]); up_pwm_servo_set(i, r_page_servos[i]);