diff options
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 80 | ||||
-rw-r--r-- | src/modules/uavcan/uavcan_main.hpp | 2 |
2 files changed, 47 insertions, 35 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index cf40f3ea8..e4f58b310 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -282,8 +282,7 @@ int UavcanNode::run() _test_motor_sub = orb_subscribe(ORB_ID(test_motor)); _actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct)); - actuator_outputs_s outputs; - memset(&outputs, 0, sizeof(outputs)); + memset(&_outputs, 0, sizeof(_outputs)); const int busevent_fd = ::open(uavcan_stm32::BusEvent::DevName, 0); if (busevent_fd < 0) @@ -339,6 +338,8 @@ int UavcanNode::run() node_spin_once(); // Non-blocking + bool new_output = false; + // this would be bad... if (poll_ret < 0) { log("poll error %d", errno); @@ -360,18 +361,25 @@ int UavcanNode::run() */ if (_actuator_direct_sub != -1 && (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) && - orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK) { - // Output to the bus - _esc_controller.update_outputs(_actuator_direct.values, _actuator_direct.nvalues); + orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK && + !_test_in_progress) { + if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) { + _actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS; + } + memcpy(&_outputs.output[0], &_actuator_direct.values[0], + _actuator_direct.nvalues*sizeof(float)); + _outputs.noutputs = _actuator_direct.nvalues; + new_output = true; } // can we mix? if (_test_in_progress) { - float test_outputs[NUM_ACTUATOR_OUTPUTS] = {}; - test_outputs[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; - - // Output to the bus - _esc_controller.update_outputs(test_outputs, NUM_ACTUATOR_OUTPUTS); + memset(&_outputs, 0, sizeof(_outputs)); + if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) { + _outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f; + _outputs.noutputs = _test_motor.motor_number+1; + } + new_output = true; } else if (controls_updated && (_mixers != nullptr)) { // XXX one output group has 8 outputs max, @@ -379,39 +387,41 @@ int UavcanNode::run() unsigned num_outputs_max = 8; // Do mixing - outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs_max); - outputs.timestamp = hrt_absolute_time(); - - // iterate actuators - for (unsigned i = 0; i < outputs.noutputs; i++) { - // last resort: catch NaN, INF and out-of-band errors - if (!isfinite(outputs.output[i])) { - /* - * Value is NaN, INF or out of band - set to the minimum value. - * This will be clearly visible on the servo status and will limit the risk of accidentally - * spinning motors. It would be deadly in flight. - */ - outputs.output[i] = -1.0f; - } + _outputs.noutputs = _mixers->mix(&_outputs.output[0], num_outputs_max); - // limit outputs to valid range + new_output = true; + } + } - // never go below min - if (outputs.output[i] < -1.0f) { - outputs.output[i] = -1.0f; - } + if (new_output) { + // iterate actuators, checking for valid values + for (uint8_t i = 0; i < _outputs.noutputs; i++) { + // last resort: catch NaN, INF and out-of-band errors + if (!isfinite(_outputs.output[i])) { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + _outputs.output[i] = -1.0f; + } - // never go below max - if (outputs.output[i] > 1.0f) { - outputs.output[i] = 1.0f; - } + // never go below min + if (_outputs.output[i] < -1.0f) { + _outputs.output[i] = -1.0f; } - // Output to the bus - _esc_controller.update_outputs(outputs.output, outputs.noutputs); + // never go above max + if (_outputs.output[i] > 1.0f) { + _outputs.output[i] = 1.0f; + } } + // Output to the bus + _outputs.timestamp = hrt_absolute_time(); + _esc_controller.update_outputs(_outputs.output, _outputs.noutputs); } + // Check motor test state bool updated = false; orb_check(_test_motor_sub, &updated); diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp index d7eb16764..5a036fcd7 100644 --- a/src/modules/uavcan/uavcan_main.hpp +++ b/src/modules/uavcan/uavcan_main.hpp @@ -133,6 +133,8 @@ private: uint8_t _actuator_direct_poll_fd_num; actuator_direct_s _actuator_direct; + actuator_outputs_s _outputs; + // index into _poll_fds for each _control_subs handle uint8_t _poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN]; }; |