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px4io: only update PWM MAX/MIN/DIS/FAIL/REV once

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- Updating PWM params on param change was interfering with VTOL
parameter settings (e.g. PWM_MIN is set by VTOL at init, and
was then overwritten here after an arbitrary param change).
This commit is contained in:
Daniel Agar
2021-05-31 22:00:28 -04:00
parent 697d713faf
commit 284375efc3
1 changed files with 26 additions and 10 deletions
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src/drivers/px4io/px4io.cpp
+26 -10
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@@ -284,6 +284,12 @@ private:
MotorTest _motor_test;
bool _hitl_mode; ///< Hardware-in-the-loop simulation mode - don't publish actuator_outputs
bool _pwm_min_configured{false};
bool _pwm_max_configured{false};
bool _pwm_fail_configured{false};
bool _pwm_dis_configured{false};
bool _pwm_rev_configured{false};
/**
* Trampoline to the worker task
*/
@@ -1215,7 +1221,7 @@ void PX4IO::update_params()
// PWM_MAIN_MINx
{
if (!_pwm_min_configured) {
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
@@ -1238,11 +1244,13 @@ void PX4IO::update_params()
}
}
io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm.values, pwm.channel_count);
if (io_reg_set(PX4IO_PAGE_CONTROL_MIN_PWM, 0, pwm.values, pwm.channel_count) == OK) {
_pwm_min_configured = true;
}
}
// PWM_MAIN_MAXx
{
if (!_pwm_max_configured) {
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
@@ -1265,11 +1273,13 @@ void PX4IO::update_params()
}
}
io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm.values, pwm.channel_count);
if (io_reg_set(PX4IO_PAGE_CONTROL_MAX_PWM, 0, pwm.values, pwm.channel_count) == OK) {
_pwm_max_configured = true;
}
}
// PWM_MAIN_FAILx
{
if (!_pwm_fail_configured) {
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
@@ -1289,11 +1299,13 @@ void PX4IO::update_params()
}
}
io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm.values, pwm.channel_count);
if (io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, pwm.values, pwm.channel_count) == OK) {
_pwm_fail_configured = true;
}
}
// PWM_MAIN_DISx
{
if (!_pwm_dis_configured) {
pwm_output_values pwm{};
pwm.channel_count = _max_actuators;
@@ -1316,11 +1328,13 @@ void PX4IO::update_params()
}
}
io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm.values, pwm.channel_count);
if (io_reg_set(PX4IO_PAGE_DISARMED_PWM, 0, pwm.values, pwm.channel_count) == OK) {
_pwm_dis_configured = true;
}
}
// PWM_MAIN_REVx
{
if (!_pwm_rev_configured) {
int16_t reverse_pwm_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
@@ -1335,7 +1349,9 @@ void PX4IO::update_params()
}
}
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, reverse_pwm_mask);
if (io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, reverse_pwm_mask) == OK) {
_pwm_rev_configured = true;
}
}
// PWM_MAIN_TRIMx