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px4-firmware
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prevent alternate flight control group (1) throttle from being active when safety is disabled

This commit is contained in:
Andreas Antener 2016-03-18 15:22:06 +01:00
parent 4847023cad
commit 6782bdaf69
3 changed files with 9 additions and 4 deletions
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1
msg/actuator_controls.msg
View File

@ -9,6 +9,7 @@ uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control

6
src/drivers/px4fmu/fmu.cpp
View File

@ -1418,7 +1418,8 @@ PX4FMU::control_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */
if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
@ -1429,7 +1430,8 @@ PX4FMU::control_callback(uintptr_t handle,
/* throttle not arming - mark throttle input as invalid */
if (arm_nothrottle()) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */
input = NAN_VALUE;

6
src/modules/px4iofirmware/mixer.cpp
View File

@ -396,7 +396,8 @@ mixer_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */
if ((pwm_limit.state == PWM_LIMIT_STATE_RAMP) || (should_arm_nothrottle && !should_arm)) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
@ -407,7 +408,8 @@ mixer_callback(uintptr_t handle,
/* only safety off, but not armed - set throttle as invalid */
if (should_arm_nothrottle && !should_arm) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* mark the throttle as invalid */
control = NAN_VALUE;