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Author SHA1 Message Date
PX4 BuildBot e7c32bc9a2 update all px4board kconfig 2024-03-25 11:30:34 +00:00
23 changed files with 9 additions and 38 deletions

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@ -1,14 +1,6 @@
root = true
[*]
insert_final_newline = false
[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
[*.{c,cpp,cc,h,hpp}]
indent_style = tab
tab_width = 8
# Not in the official standard, but supported by many editors
max_line_length = 120
[*.yaml]
indent_style = space
indent_size = 2

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@ -60,7 +60,6 @@ CONFIG_MODULES_NAVIGATOR=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_ROVER_POS_CONTROL=y
CONFIG_MODULES_SENSORS=y
# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
CONFIG_MODULES_UXRCE_DDS_CLIENT=y
CONFIG_MODULES_VTOL_ATT_CONTROL=y

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@ -28,7 +28,7 @@ CONFIG_MODULES_MUORB_SLPI=y
CONFIG_MODULES_RC_UPDATE=y
CONFIG_MODULES_SENSORS=y
CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_ORB_COMMUNICATOR=y
CONFIG_PARAM_REMOTE=y

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@ -8,7 +8,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
CONFIG_DRIVERS_IRLOCK=n
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
CONFIG_MODULES_ROVER_POS_CONTROL=n
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
CONFIG_BOARD_TESTING=y
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y

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@ -364,13 +364,6 @@ PX4IO::~PX4IO()
bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
unsigned num_outputs, unsigned num_control_groups_updated)
{
for (size_t i = 0; i < num_outputs; i++) {
if (!_mixing_output.isFunctionSet(i)) {
// do not run any signal on disabled channels
outputs[i] = 0;
}
}
if (!_test_fmu_fail) {
/* output to the servos */
io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);

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@ -455,8 +455,7 @@ bool MixingOutput::update()
}
}
// Send output if any function mapped or one last disabling sample
if (!all_disabled || !_was_all_disabled) {
if (!all_disabled) {
if (!_armed.armed && !_armed.manual_lockdown) {
_actuator_test.overrideValues(outputs, _max_num_outputs);
}
@ -464,8 +463,6 @@ bool MixingOutput::update()
limitAndUpdateOutputs(outputs, has_updates);
}
_was_all_disabled = all_disabled;
return true;
}

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@ -288,7 +288,6 @@ private:
hrt_abstime _lowrate_schedule_interval{300_ms};
ActuatorTest _actuator_test{_function_assignment};
uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
bool _was_all_disabled{false};
uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback

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@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
mixing_output.setAllMaxValues(MAX_VALUE);
EXPECT_EQ(test_module.num_updates, 0);
// all functions disabled: expect to get one single update to process disabling the output signal
// all functions disabled: not expected to get an update
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 1);
mixing_output.update();
mixing_output.updateSubscriptions(false);
mixing_output.update();
EXPECT_EQ(test_module.num_updates, 1);
EXPECT_EQ(test_module.num_updates, 0);
test_module.reset();
// configure motor, ensure all still disarmed

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@ -180,19 +180,15 @@ mixer_tick()
* Run the mixers.
*/
if (source == MIX_FAILSAFE) {
// Set failsafe value if the PWM output isn't disabled
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_failsafe[i];
}
r_page_servos[i] = r_page_servo_failsafe[i];
}
} else if (source == MIX_DISARMED) {
// Set disarmed value if the PWM output isn't disabled
/* copy disarmed values to the servo outputs */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_disarmed[i];
}
r_page_servos[i] = r_page_servo_disarmed[i];
}
}