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https://github.com/ArduPilot/ardupilot.git
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Oleksiy Protas
f8b84dba84
Prevents multiple PWM writes to the same channel during the same loop. Linux sysfs implementation may sleep duringPWM duty setup or have internal waiting logic, this change ensures we only commit PWMs once during a loop.
43 lines
1.0 KiB
C++
43 lines
1.0 KiB
C++
#include "Tracker.h"
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/*
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* GCS controlled servo test mode
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*/
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/*
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* set_servo - sets the yaw or pitch servo pwm directly
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* servo_num are 1 for yaw, 2 for pitch
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*/
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bool ModeServoTest::set_servo(uint8_t servo_num, uint16_t pwm)
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{
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// convert servo_num from 1~2 to 0~1 range
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servo_num--;
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// exit immediately if servo_num is invalid
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if (servo_num != CH_YAW && servo_num != CH_PITCH) {
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return false;
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}
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hal.rcout->cork();
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// set yaw servo pwm and send output to servo
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if (servo_num == CH_YAW) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_yaw, pwm);
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_yaw);
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}
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// set pitch servo pwm and send output to servo
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if (servo_num == CH_PITCH) {
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SRV_Channels::set_output_pwm(SRV_Channel::k_tracker_pitch, pwm);
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SRV_Channels::constrain_pwm(SRV_Channel::k_tracker_pitch);
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}
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SRV_Channels::calc_pwm();
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SRV_Channels::output_ch_all();
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hal.rcout->push();
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// return success
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return true;
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}
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