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Author SHA1 Message Date
PX4 BuildBot 9dac66b5ef Update submodule libcanard to latest Mon Mar 25 12:39:22 UTC 2024
- libcanard in PX4/Firmware (bf67e95cc3): 5c69d451ab
    - libcanard current upstream: 1c4da0d820
    - Changes: 5c69d451ab...1c4da0d820

    1c4da0d 2023-12-26 Yurii Cherniavskyi - Introduce internal includes section to avoid potential implicit declaration warnings (#219)
73d0a9c 2023-04-30 Pavel Kirienko - Refactor the transfer reassembly state machine to enhance its maintainability and robustness (#215)
69ed329 2023-04-22 Pavel Kirienko - Amend the transfer reassembly state machine and prepare v3.1 release (#213)
19c26e6 2023-04-17 Pavel Kirienko - Fix 189, 196, 206 (#211)
8ce8ed2 2023-04-14 Pavel Kirienko - Update the tools to the latest versions and add new static analysis diagnostics (#210)
2024-03-25 12:39:22 +00:00
21 changed files with 9 additions and 36 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

@ -1 +1 @@
Subproject commit 5c69d451ab0787a81dcb615692d707f2a286f5e5
Subproject commit 1c4da0d8202ab89743a5105bb58040a73fa7225c

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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];
}
}