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vtol_att_control: respect min pwm values 

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2019-04-15 21:51:57 +02:00 committed by Lorenz Meier
parent 70681f990f
commit 463b8a7528
2 changed files with 24 additions and 2 deletions
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25
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -95,6 +95,13 @@ bool VtolType::init()
return false;
}
ret = px4_ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&_min_mc_pwm_values);
if (ret != PX4_OK) {
PX4_ERR("failed getting min values");
px4_close(fd);
return false;
}
ret = px4_ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&_disarmed_pwm_values);
@ -104,6 +111,8 @@ bool VtolType::init()
return false;
}
px4_close(fd);
return true;
}
@ -240,7 +249,13 @@ bool VtolType::set_idle_mc()
memset(&pwm_values, 0, sizeof(pwm_values));
for (int i = 0; i < _params->vtol_motor_count; i++) {
pwm_values.values[i] = pwm_value;
if (is_motor_off_channel(i)) {
pwm_values.values[i] = pwm_value;
} else {
pwm_values.values[i] = _min_mc_pwm_values.values[i];
}
pwm_values.channel_count++;
}
@ -254,7 +269,13 @@ bool VtolType::set_idle_fw()
memset(&pwm_values, 0, sizeof(pwm_values));
for (int i = 0; i < _params->vtol_motor_count; i++) {
pwm_values.values[i] = PWM_MOTOR_OFF;
if (is_motor_off_channel(i)) {
pwm_values.values[i] = PWM_MOTOR_OFF;
} else {
pwm_values.values[i] = _min_mc_pwm_values.values[i];
}
pwm_values.channel_count++;
}

1
src/modules/vtol_att_control/vtol_type.h
View File

@ -252,6 +252,7 @@ private:
/**
* @brief Stores the max pwm values given by the system.
*/
struct pwm_output_values _min_mc_pwm_values {};
struct pwm_output_values _max_mc_pwm_values {};
struct pwm_output_values _disarmed_pwm_values {};