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FMU driver: Set throttle to zero if in PWM ramp mode

This commit is contained in:
Lorenz Meier 2015-06-30 09:49:33 +02:00
parent cde8d72694
commit 1b4405ee3a
1 changed files with 15 additions and 3 deletions
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18
src/drivers/px4fmu/fmu.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -155,7 +155,7 @@ private:
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
pwm_limit_t _pwm_limit;
static pwm_limit_t _pwm_limit;
uint16_t _failsafe_pwm[_max_actuators];
uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators];
@ -241,6 +241,7 @@ const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
};
const unsigned PX4FMU::_ngpio = sizeof(PX4FMU::_gpio_tab) / sizeof(PX4FMU::_gpio_tab[0]);
pwm_limit_t PX4FMU::_pwm_limit;
namespace
{
@ -272,7 +273,6 @@ PX4FMU::PX4FMU() :
_control_subs{-1},
_actuator_output_topic_instance(-1),
_poll_fds_num(0),
_pwm_limit{},
_failsafe_pwm{0},
_disarmed_pwm{0},
_reverse_pwm_mask(0),
@ -827,6 +827,18 @@ PX4FMU::control_callback(uintptr_t handle,
const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls[control_group].control[control_index];
/* motor spinup phase - lock throttle to zero */
if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
*/
input = 0.0f;
}
}
return 0;
}