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delete unused actuator_controls_3

This commit is contained in:
Daniel Agar 2022-08-24 18:10:24 -04:00
parent 55be169e18
commit 13f9eabd70
8 changed files with 2 additions and 96 deletions
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1
.ci/Jenkinsfile-hardware
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@ -855,7 +855,6 @@ void printTopics() {
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_0" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_1" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_2" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_controls_3" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener actuator_outputs" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report" || true'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener airspeed_validated" || true'

4
msg/actuator_controls.msg
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@ -16,11 +16,9 @@ uint8 INDEX_COLLECTIVE_TILT = 8
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint8 GROUP_INDEX_GIMBAL = 2
uint8 GROUP_INDEX_MANUAL_PASSTHROUGH = 3
uint8 GROUP_INDEX_PAYLOAD = 6
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[9] control
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2
# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc

1
src/modules/logger/logged_topics.cpp
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@ -50,7 +50,6 @@ void LoggedTopics::add_default_topics()
add_topic("actuator_controls_0", 50);
add_topic("actuator_controls_1", 100);
add_topic("actuator_controls_2", 100);
add_topic("actuator_controls_3", 100);
add_optional_topic("actuator_controls_status_0", 300);
add_topic("airspeed", 1000);
add_optional_topic("airspeed_validated", 200);

34
src/modules/mavlink/mavlink_receiver.cpp
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@ -561,40 +561,6 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
send_ack = true;
}
} else if (cmd_mavlink.command == MAV_CMD_DO_SET_ACTUATOR) {
// since we're only paying attention to 3 AUX outputs, the
// index should be 0, otherwise ignore the message
if (((int) vehicle_command.param7) == 0) {
actuator_controls_s actuator_controls{};
// update with existing values to avoid changing unspecified controls
_actuator_controls_3_sub.update(&actuator_controls);
actuator_controls.timestamp = hrt_absolute_time();
bool updated = false;
if (PX4_ISFINITE(vehicle_command.param1)) {
actuator_controls.control[5] = vehicle_command.param1;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param2)) {
actuator_controls.control[6] = vehicle_command.param2;
updated = true;
}
if (PX4_ISFINITE(vehicle_command.param3)) {
actuator_controls.control[7] = vehicle_command.param3;
updated = true;
}
if (updated) {
_actuator_controls_pubs[3].publish(actuator_controls);
}
}
_cmd_pub.publish(vehicle_command);
} else if (cmd_mavlink.command == MAV_CMD_DO_AUTOTUNE_ENABLE) {
bool has_module = true;

3
src/modules/mavlink/mavlink_receiver.h
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@ -290,7 +290,7 @@ private:
uint16_t _mavlink_status_last_packet_rx_drop_count{0};
// ORB publications
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[4] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2), ORB_ID(actuator_controls_3)};
uORB::Publication<actuator_controls_s> _actuator_controls_pubs[3] {ORB_ID(actuator_controls_0), ORB_ID(actuator_controls_1), ORB_ID(actuator_controls_2)};
uORB::Publication<airspeed_s> _airspeed_pub{ORB_ID(airspeed)};
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<camera_status_s> _camera_status_pub{ORB_ID(camera_status)};
@ -353,7 +353,6 @@ private:
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Subscription _autotune_attitude_control_status_sub{ORB_ID(autotune_attitude_control_status)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

7
src/modules/mavlink/streams/ACTUATOR_CONTROL_TARGET.hpp
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@ -53,9 +53,6 @@ public:
case 2:
return "ACTUATOR_CONTROL_TARGET2";
case 3:
return "ACTUATOR_CONTROL_TARGET3";
}
return "ACTUATOR_CONTROL_TARGET";
@ -88,10 +85,6 @@ private:
case 2:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_2)};
break;
case 3:
_act_ctrl_sub = new uORB::Subscription{ORB_ID(actuator_controls_3)};
break;
}
}

46
src/modules/rc_update/rc_update.cpp
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@ -701,52 +701,6 @@ void RCUpdate::UpdateManualControlInput(const hrt_abstime &timestamp_sample)
manual_control_input.timestamp = hrt_absolute_time();
_manual_control_input_pub.publish(manual_control_input);
_last_manual_control_input_publish = manual_control_input.timestamp;
actuator_controls_s actuator_group_3{};
// copy in previous actuator control setpoint in case aux{1, 2, 3} isn't changed
_actuator_controls_3_sub.update(&actuator_group_3);
// populate and publish actuator_controls_3 copied from mapped manual_control_input
actuator_group_3.control[0] = manual_control_input.y;
actuator_group_3.control[1] = manual_control_input.x;
actuator_group_3.control[2] = manual_control_input.r;
actuator_group_3.control[3] = manual_control_input.z;
actuator_group_3.control[4] = manual_control_input.flaps;
float new_aux_values[3];
new_aux_values[0] = manual_control_input.aux1;
new_aux_values[1] = manual_control_input.aux2;
new_aux_values[2] = manual_control_input.aux3;
// if AUX RC was already active, we update. otherwise, we check
// if there is a major stick movement to re-activate RC mode
bool major_movement[3] = {false, false, false};
// detect a big stick movement
for (int i = 0; i < 3; i++) {
if (fabsf(_last_manual_control_input[i] - new_aux_values[i]) > 0.1f) {
major_movement[i] = true;
}
}
for (int i = 0; i < 3; i++) {
// if someone else (DO_SET_ACTUATOR) updated the actuator control
// and we haven't had a major movement, switch back to automatic control
if ((fabsf(_last_manual_control_input[i] - actuator_group_3.control[5 + i])
> 0.0001f) && (!major_movement[i])) {
_aux_already_active[i] = false;
}
if (_aux_already_active[i] || major_movement[i]) {
_aux_already_active[i] = true;
_last_manual_control_input[i] = new_aux_values[i];
actuator_group_3.control[5 + i] = new_aux_values[i];
}
}
actuator_group_3.timestamp = hrt_absolute_time();
_actuator_group_3_pub.publish(actuator_group_3);
}
int RCUpdate::task_spawn(int argc, char *argv[])

2
src/modules/rc_update/rc_update.h
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@ -163,12 +163,10 @@ public:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _rc_parameter_map_sub{ORB_ID(rc_parameter_map)};
uORB::Subscription _actuator_controls_3_sub{ORB_ID(actuator_controls_3)};
uORB::Publication<rc_channels_s> _rc_channels_pub{ORB_ID(rc_channels)};
uORB::PublicationMulti<manual_control_setpoint_s> _manual_control_input_pub{ORB_ID(manual_control_input)};
uORB::Publication<manual_control_switches_s> _manual_control_switches_pub{ORB_ID(manual_control_switches)};
uORB::Publication<actuator_controls_s> _actuator_group_3_pub{ORB_ID(actuator_controls_3)};
manual_control_switches_s _manual_switches_previous{};
manual_control_switches_s _manual_switches_last_publish{};