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mixer_module: remove unnecessary init state 

That state only delayed the first arming by 50 miliseconds.
Was presumably a workaround for some issue very very early on.
See cc452834c0
This commit is contained in:
Matthias Grob 2023-06-06 15:05:19 +02:00 committed by Daniel Agar
parent 0f256718d3
commit 94d2140a4f
2 changed files with 1 additions and 18 deletions
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16
src/lib/mixer_module/mixer_module.cpp
View File

@ -526,21 +526,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const
/* first evaluate state changes */
switch (_output_state) {
case OutputLimitState::INIT:
if (armed) {
// set arming time for the first call
if (_output_time_armed == 0) {
_output_time_armed = hrt_absolute_time();
}
// time for the ESCs to initialize (this is not actually needed if the signal is sent right after boot)
if (hrt_elapsed_time(&_output_time_armed) >= 50_ms) {
_output_state = OutputLimitState::OFF;
}
}
break;
case OutputLimitState::OFF:
if (armed) {
if (_output_ramp_up) {
@ -589,7 +574,6 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const
// then set _current_output_value based on state
switch (local_limit_state) {
case OutputLimitState::OFF:
case OutputLimitState::INIT:
for (int i = 0; i < num_channels; i++) {
_current_output_value[i] = _disarmed_value[i];
}

3
src/lib/mixer_module/mixer_module.hpp
View File

@ -248,10 +248,9 @@ private:
enum class OutputLimitState {
OFF = 0,
INIT,
RAMP,
ON
} _output_state{OutputLimitState::INIT};
} _output_state{OutputLimitState::OFF};
hrt_abstime _output_time_armed{0};
const bool _output_ramp_up; ///< if true, motors will ramp up from disarmed to min_output after arming