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px4-firmware
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Adressed performance concern and fixed a copy paste bug

This commit is contained in:
Julian Oes 2013-06-18 10:00:08 +02:00
parent cc452834c0
commit b5f4f1ee80
3 changed files with 24 additions and 9 deletions
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4
src/drivers/px4io/px4io.cpp
View File

@ -1851,7 +1851,7 @@ px4io_main(int argc, char *argv[])
}
} else {
/* a zero value will the default */
min[i] = 900;
min[i] = 0;
}
}
@ -1886,7 +1886,7 @@ px4io_main(int argc, char *argv[])
}
} else {
/* a zero value will the default */
max[i] = 2100;
max[i] = 0;
}
}

11
src/modules/px4iofirmware/mixer.cpp
View File

@ -62,7 +62,7 @@ extern "C" {
/*
* Time that the ESCs need to initialize
*/
#define ESC_INIT_TIME_US 500000
#define ESC_INIT_TIME_US 2000000
/* XXX need to move the RC_CHANNEL_FUNCTION out of rc_channels.h and into systemlib */
#define ROLL 0
@ -75,6 +75,7 @@ extern "C" {
static bool mixer_servos_armed = false;
static uint64_t time_armed;
static bool init_complete = false;
/* selected control values and count for mixing */
enum mixer_source {
@ -177,6 +178,10 @@ mixer_tick(void)
/* mix */
mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
if (!init_complete && mixer_servos_armed && (hrt_elapsed_time(&time_armed) > ESC_INIT_TIME_US)) {
init_complete = true;
}
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
@ -184,7 +189,7 @@ mixer_tick(void)
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
/* scale to control range after init time */
if (mixer_servos_armed && (hrt_elapsed_time(&time_armed) > ESC_INIT_TIME_US)) {
if (init_complete) {
r_page_servos[i] = (outputs[i]
* (r_page_servo_control_max[i] - r_page_servo_control_min[i])/2
+ (r_page_servo_control_max[i] + r_page_servo_control_min[i])/2);
@ -222,11 +227,13 @@ mixer_tick(void)
up_pwm_servo_arm(true);
mixer_servos_armed = true;
time_armed = hrt_absolute_time();
init_complete = false;
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
init_complete = false;
}
if (mixer_servos_armed) {

18
src/modules/px4iofirmware/registers.c
View File

@ -268,7 +268,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
if (*values > 1200)
if (*values == 0)
/* set to default */
r_page_servo_control_min[offset] = 900;
else if (*values > 1200)
r_page_servo_control_min[offset] = 1200;
else if (*values < 900)
r_page_servo_control_min[offset] = 900;
@ -286,10 +290,14 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < IO_SERVO_COUNT) && (num_values > 0)) {
if (*values > 1200)
r_page_servo_control_max[offset] = 1200;
else if (*values < 900)
r_page_servo_control_max[offset] = 900;
if (*values == 0)
/* set to default */
r_page_servo_control_max[offset] = 2100;
else if (*values > 2100)
r_page_servo_control_max[offset] = 2100;
else if (*values < 1800)
r_page_servo_control_max[offset] = 1800;
else
r_page_servo_control_max[offset] = *values;