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px4io: When running HITL, don't publish actuator_outputs. Fixes #13471.

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When running in HITL mode, pwm_out_sim publishes actuator_outputs.

px4io unconditionally publishes the uOrb actuator_outputs. When HITL
is configured, the px4io copy of the uOrb has all zeros.

The result is that there are two publications, one valid, and one
all-zeros. This causes the HIL_ACTUATOR_CONTROLS mavlink message
to be incorrect (all-zeros) and the SERVO_OUTPUTS_RAW mavlink
message to be inconsistent, as it takes the data from one or the
other uOrb randomly each cycle.

The fix is to let px4io know that HITL is in effect when it is
started, and modify px4io to suppress publication in this case.

This is a bigger more complicated fix than I would like, but I
think it is conceptually correct.

Signed-off-by: Nik Langrind <langrind@gmail.com>
This commit is contained in:
Nik Langrind
2019-11-15 20:01:40 -05:00
committed by Lorenz Meier
parent 8ce2f30aa6
commit ba5efa5642
2 changed files with 33 additions and 10 deletions
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ROMFS/px4fmu_common/init.d/rc.io
+9 -1
View File
@@ -2,9 +2,17 @@
#
# PX4IO interface init script.
#
# If $OUTPUT_MODE indicated Hardware-int-the-loop simulation, px4io should not publish actuator_outputs,
# instead, pwm_out_sim will publish that uORB
if [ $OUTPUT_MODE = hil ]
then
set HIL_ARG $OUTPUT_MODE
fi
if [ $USE_IO = yes -a $IO_PRESENT = yes ]
then
if px4io start
if px4io start $HIL_ARG
then
# Allow PX4IO to recover from midair restarts.
px4io recovery