Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 19:07:45 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

prevent alternate flight control group (1) throttle from being active when safety is disabled

Browse Source
This commit is contained in:
Andreas Antener
2016-03-18 15:22:06 +01:00
parent 4847023cad
commit 6782bdaf69
3 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/actuator_controls.msg
+1
View File
@@ -9,6 +9,7 @@ uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6 uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7 uint8 INDEX_LANDING_GEAR = 7
uint8 GROUP_INDEX_ATTITUDE = 0 uint8 GROUP_INDEX_ATTITUDE = 0
uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
uint64 timestamp uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control float32[8] control
src/drivers/px4fmu/fmu.cpp
+4 -2
View File
@@ -1418,7 +1418,8 @@ PX4FMU::control_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */ /* motor spinup phase - lock throttle to zero */
if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) { if (_pwm_limit.state == PWM_LIMIT_STATE_RAMP) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup, /* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet * as the motors cannot follow any demand yet
@@ -1429,7 +1430,8 @@ PX4FMU::control_callback(uintptr_t handle,
/* throttle not arming - mark throttle input as invalid */ /* throttle not arming - mark throttle input as invalid */
if (arm_nothrottle()) { if (arm_nothrottle()) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
/* set the throttle to an invalid value */ /* set the throttle to an invalid value */
input = NAN_VALUE; input = NAN_VALUE;
src/modules/px4iofirmware/mixer.cpp
+4 -2
View File
@@ -396,7 +396,8 @@ mixer_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */ /* motor spinup phase - lock throttle to zero */
if ((pwm_limit.state == PWM_LIMIT_STATE_RAMP) || (should_arm_nothrottle && !should_arm)) { if ((pwm_limit.state == PWM_LIMIT_STATE_RAMP) || (should_arm_nothrottle && !should_arm)) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup, /* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet * as the motors cannot follow any demand yet
@@ -407,7 +408,8 @@ mixer_callback(uintptr_t handle,
/* only safety off, but not armed - set throttle as invalid */ /* only safety off, but not armed - set throttle as invalid */
if (should_arm_nothrottle && !should_arm) { if (should_arm_nothrottle && !should_arm) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE && if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) { control_index == actuator_controls_s::INDEX_THROTTLE) {
/* mark the throttle as invalid */ /* mark the throttle as invalid */
control = NAN_VALUE; control = NAN_VALUE;