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actuator outputs: always add reverse range param 

and remove the possibility to set min > max to reverse.

Initially the idea was to add the checkbox on the UI side, to avoid adding
another param, but I don't think I'll go through the extra effort on the
QGC side.
This commit is contained in:
Beat Küng 2022-01-11 10:52:30 +01:00 committed by Daniel Agar
parent 98a9748bb8
commit 9ca58f5e97
11 changed files with 28 additions and 47 deletions
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16
Tools/module_config/generate_actuators_metadata.py
View File

@ -142,7 +142,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
}
if 'show_subgroups_if' in actuator_output_yaml:
actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)
# config parameters
def get_config_params(param_list):
@ -257,14 +256,13 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
per_channel_params.append(param)
if add_reverse_range_param:
param = {
'label': 'Rev Range\n(for Servos)',
'name': param_prefix+'_REV',
'index-offset': -1,
'show-as': 'bitset',
}
per_channel_params.append(param)
param = {
'label': 'Rev Range\n(for Servos)',
'name': param_prefix+'_REV',
'index-offset': -1,
'show-as': 'bitset',
}
per_channel_params.append(param)
# TODO: support non-standard per-channel parameters

43
Tools/module_config/generate_params.py
View File

@ -178,7 +178,6 @@ def get_actuator_output_params(yaml_config, output_functions,
all_params = {}
group_idx = 0
add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
all_param_prefixes = {}
def add_local_param(param_name, param_def):
@ -299,13 +298,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
'''
minimum_description = \
'''Minimum output value (when not disarmed).
The output range can be reversed by setting Min > Max.
'''
maximum_description = \
'''Maxmimum output value (when not disarmed).
The output range can be reversed by setting Min > Max.
'''
failsafe_description = \
'''This is the output value that is set when in failsafe mode.
@ -346,29 +341,29 @@ When set to -1 (default), the value depends on the function (see {:}).
}
add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
if add_reverse_range_param:
for param_prefix in all_param_prefixes:
groups = all_param_prefixes[param_prefix]
# collect the bits
channel_bits = {}
for instance_start, instance_start_label, num_instances, label in groups:
for instance in range(instance_start, instance_start+num_instances):
instance_label = instance - instance_start + instance_start_label
channel_bits[instance-1] = label + ' ' + str(instance_label)
# add reverse range param
for param_prefix in all_param_prefixes:
groups = all_param_prefixes[param_prefix]
# collect the bits
channel_bits = {}
for instance_start, instance_start_label, num_instances, label in groups:
for instance in range(instance_start, instance_start+num_instances):
instance_label = instance - instance_start + instance_start_label
channel_bits[instance-1] = label + ' ' + str(instance_label)
param = {
'description': {
'short': 'Reverse Output Range for '+module_name,
'long':
param = {
'description': {
'short': 'Reverse Output Range for '+module_name,
'long':
'''Allows to reverse the output range for each channel.
Note: this is only useful for servos.
'''.format(channel_label),
},
'type': 'bitmask',
'default': 0,
'bit': channel_bits
}
add_local_param(param_prefix+'_REV', param)
},
'type': 'bitmask',
'default': 0,
'bit': channel_bits
}
add_local_param(param_prefix+'_REV', param)
if verbose: print('adding actuator params: {:}'.format(all_params))
return all_params

1
src/drivers/linux_pwm_out/module.yaml
View File

@ -1,6 +1,5 @@
module_name: PWM Output
actuator_output:
add_reverse_range_param: true
output_groups:
- param_prefix: PWM_MAIN
channel_label: 'Channel'

1
src/drivers/pwm_out/module.yaml
View File

@ -1,6 +1,5 @@
module_name: '${PWM_MAIN_OR_AUX}'
actuator_output:
add_reverse_range_param: true
output_groups:
- generator: pwm
param_prefix: '${PWM_MAIN_OR_AUX}'

1
src/drivers/pwm_out_sim/module_hil.yaml
View File

@ -1,7 +1,6 @@
module_name: HIL
actuator_output:
add_reverse_range_param: true
show_subgroups_if: 'SYS_HITL>0'
output_groups:
- param_prefix: HIL_ACT

1
src/drivers/pwm_out_sim/module_sim.yaml
View File

@ -1,7 +1,6 @@
module_name: SIM
actuator_output:
add_reverse_range_param: true
output_groups:
- param_prefix: PWM_MAIN
channel_label: Channel

1
src/drivers/px4io/module.yaml
View File

@ -1,6 +1,5 @@
module_name: PWM MAIN
actuator_output:
add_reverse_range_param: true
output_groups:
- generator: pwm
param_prefix: PWM_MAIN

1
src/drivers/uavcan/module.yaml
View File

@ -1,6 +1,5 @@
module_name: UAVCAN
actuator_output:
add_reverse_range_param: true
show_subgroups_if: 'UAVCAN_ENABLE>=3'
config_parameters:
- param: 'UAVCAN_ENABLE'

1
src/drivers/uavcan_v1/module.yaml
View File

@ -1,6 +1,5 @@
module_name: UAVCANv1
actuator_output:
add_reverse_range_param: true
output_groups:
- param_prefix: UCAN1_ESC
channel_label: 'ESC'

6
src/lib/mixer_module/mixer_module.cpp
View File

@ -193,8 +193,6 @@ void MixingOutput::updateParams()
bool function_changed = false;
_reverse_output_mask = 0;
for (unsigned i = 0; i < _max_num_outputs; i++) {
int32_t val;
@ -219,7 +217,6 @@ void MixingOutput::updateParams()
}
if (_min_value[i] > _max_value[i]) {
_reverse_output_mask |= 1 << i;
uint16_t tmp = _min_value[i];
_min_value[i] = _max_value[i];
_max_value[i] = tmp;
@ -230,10 +227,11 @@ void MixingOutput::updateParams()
}
}
_reverse_output_mask = 0;
int32_t rev_range_param;
if (_param_handle_rev_range != PARAM_INVALID && param_get(_param_handle_rev_range, &rev_range_param) == 0) {
_reverse_output_mask |= rev_range_param;
_reverse_output_mask = rev_range_param;
}
if (function_changed) {

3
validation/module_schema.yaml
View File

@ -251,9 +251,6 @@ actuator_output:
function:
type: string
allowed: [ enable ]
add_reverse_range_param:
# Add a separate range reversing bitmask param.
type: boolean
output_groups:
type: list
minlength: 1