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)

.editorconfig

@@ -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

src/drivers/cyphal/libcanard

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

src/drivers/px4io/px4io.cpp

@@ -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);

src/lib/mixer_module/mixer_module.cpp

@@ -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;
 }
 

src/lib/mixer_module/mixer_module.hpp

@@ -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
 

src/lib/mixer_module/mixer_module_tests.cpp

@@ -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

src/modules/px4iofirmware/mixer.cpp

@@ -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];
 		}
 	}