forked from Archive/PX4-Autopilot
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PX4 BuildBot | 6d93255069 |
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@ -1,14 +1,6 @@
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root = true
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[*]
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insert_final_newline = false
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[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
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[*.{c,cpp,cc,h,hpp}]
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indent_style = tab
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tab_width = 8
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# Not in the official standard, but supported by many editors
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max_line_length = 120
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[*.yaml]
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indent_style = space
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indent_size = 2
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@ -1 +1 @@
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Subproject commit 17c0e2bfad1e544c4b11329c742630a765c7537f
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Subproject commit 3ea1d763a35d9b4a522e0c632db5bdfffad9ae23
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@ -364,13 +364,6 @@ PX4IO::~PX4IO()
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bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
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unsigned num_outputs, unsigned num_control_groups_updated)
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{
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for (size_t i = 0; i < num_outputs; i++) {
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if (!_mixing_output.isFunctionSet(i)) {
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// do not run any signal on disabled channels
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outputs[i] = 0;
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}
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}
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if (!_test_fmu_fail) {
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/* output to the servos */
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io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs);
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@ -455,8 +455,7 @@ bool MixingOutput::update()
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}
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}
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// Send output if any function mapped or one last disabling sample
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if (!all_disabled || !_was_all_disabled) {
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if (!all_disabled) {
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if (!_armed.armed && !_armed.manual_lockdown) {
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_actuator_test.overrideValues(outputs, _max_num_outputs);
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}
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@ -464,8 +463,6 @@ bool MixingOutput::update()
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limitAndUpdateOutputs(outputs, has_updates);
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}
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_was_all_disabled = all_disabled;
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return true;
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}
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@ -288,7 +288,6 @@ private:
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hrt_abstime _lowrate_schedule_interval{300_ms};
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ActuatorTest _actuator_test{_function_assignment};
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uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only)
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bool _was_all_disabled{false};
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uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback
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@ -191,15 +191,11 @@ TEST_F(MixerModuleTest, basic)
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mixing_output.setAllMaxValues(MAX_VALUE);
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EXPECT_EQ(test_module.num_updates, 0);
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// all functions disabled: expect to get one single update to process disabling the output signal
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// all functions disabled: not expected to get an update
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mixing_output.update();
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mixing_output.updateSubscriptions(false);
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mixing_output.update();
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EXPECT_EQ(test_module.num_updates, 1);
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mixing_output.update();
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mixing_output.updateSubscriptions(false);
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mixing_output.update();
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EXPECT_EQ(test_module.num_updates, 1);
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EXPECT_EQ(test_module.num_updates, 0);
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test_module.reset();
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// configure motor, ensure all still disarmed
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@ -180,21 +180,17 @@ mixer_tick()
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* Run the mixers.
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*/
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if (source == MIX_FAILSAFE) {
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// Set failsafe value if the PWM output isn't disabled
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/* copy failsafe values to the servo outputs */
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for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
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if (r_page_servos[i] != 0) {
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r_page_servos[i] = r_page_servo_failsafe[i];
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}
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}
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} else if (source == MIX_DISARMED) {
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// Set disarmed value if the PWM output isn't disabled
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/* copy disarmed values to the servo outputs */
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for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
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if (r_page_servos[i] != 0) {
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r_page_servos[i] = r_page_servo_disarmed[i];
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}
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}
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}
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/* set arming */
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bool needs_to_arm = (should_arm || should_arm_nothrottle || should_always_enable_pwm);
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