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fix pwm_out, px4io: prevent disarm and rate param updates during boot 

Before, the logic to update disarm and rate values also triggered during
bootup on the px4io, because the output functions are only set in
updateSubscriptions().
Therefore change the check to prevent updating during the first cycle.
This commit is contained in:
Beat Küng 2022-11-22 11:59:34 +01:00 committed by Daniel Agar
parent a20c581111
commit 46dbb7cf63
3 changed files with 7 additions and 10 deletions
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5
src/drivers/pwm_out/PWMOut.cpp
View File

@ -190,6 +190,7 @@ void PWMOut::Run()
_mixing_output.updateSubscriptions(true);
perf_end(_cycle_perf);
_first_update_cycle = false;
}
int PWMOut::task_spawn(int argc, char *argv[])
@ -218,7 +219,7 @@ void PWMOut::update_params()
updateParams();
// Automatically set the PWM rate and disarmed value when a channel is first set to a servo
if (!_first_param_update) {
if (!_first_update_cycle) {
for (size_t i = 0; i < _num_outputs; i++) {
if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
int32_t output_function;
@ -257,8 +258,6 @@ void PWMOut::update_params()
}
}
}
_first_param_update = false;
}
int PWMOut::custom_command(int argc, char *argv[])

2
src/drivers/pwm_out/PWMOut.hpp
View File

@ -91,7 +91,7 @@ private:
bool _pwm_on{false};
uint32_t _pwm_mask{0};
bool _pwm_initialized{false};
bool _first_param_update{true};
bool _first_update_cycle{true};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};

10
src/drivers/px4io/px4io.cpp
View File

@ -177,7 +177,7 @@ private:
unsigned _max_rc_input{0}; ///< Maximum receiver channels supported by PX4IO
unsigned _max_transfer{16}; ///< Maximum number of I2C transfers supported by PX4IO
bool _first_param_update{true};
bool _first_update_cycle{true};
uint32_t _group_channels[PX4IO_P_SETUP_PWM_RATE_GROUP3 - PX4IO_P_SETUP_PWM_RATE_GROUP0 + 1] {};
hrt_abstime _poll_last{0};
@ -638,7 +638,9 @@ void PX4IO::Run()
// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
_mixing_output.updateSubscriptions(true);
perf_end(_cycle_perf);
_first_update_cycle = false;
}
void PX4IO::updateTimerRateGroups()
@ -696,7 +698,7 @@ void PX4IO::update_params()
if (!_mixing_output.armed().armed) {
// Automatically set the PWM rate and disarmed value when a channel is first set to a servo
if (!_first_param_update) {
if (!_first_update_cycle) {
for (size_t i = 0; i < _max_actuators; i++) {
if ((previously_set_functions & (1u << i)) == 0 && _mixing_output.functionParamHandle(i) != PARAM_INVALID) {
int32_t output_function;
@ -740,11 +742,7 @@ void PX4IO::update_params()
updateTimerRateGroups();
updateFailsafe();
updateDisarmed();
_first_param_update = false;
return;
}
_first_param_update = false;
}
void PX4IO::answer_command(const vehicle_command_s &cmd, uint8_t result)