drivers/pwm_out: limit scheduling to primary actuator controls groups if used #15381
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…ntrol callbacks - optionally only register callbacks for primary control groups (if used)
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@bkueng do you see the need for anything in dshot? In the future once the px4io is lobotomized we can look at doing this a bit more intelligently with tighter mixer integration. |
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Later I'd also like to make mixer configuration more accessible from parameters and stop doing things like loading these AUX mixers by default. |
- add backup schedule at minimum PWM rate - fixes #15043
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bkueng
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Jul 21, 2020
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When a passthrough or gimbal mixer is loaded in addition to the primary mixer the output module will be schedule to run on both controller updates (new actuator_controls_0 publications) as well as new RC data (actuator_controls_3). This can be problematic for things like OneShot ESCs that don't seem to like very tight back to back updates.
This limits scheduling of the output module (pwm_out) to primarily run on updates to the primary actuator control groups (0 & 1) if in use. Additionally there's a backup should groups 0 & 1 stop publishing for some reason.