pwm_out_sim cleanup #9007
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pwm_out_sim cleanup #9007
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LorenzMeier
reviewed
Mar 4, 2018
src/drivers/pwm_out_sim/PWMSim.hpp
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| #define DRIVERS_PWM_OUT_SIM_PWMSIM_HPP_ | ||
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| /** | ||
| * @file hil.cpp |
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Needs update for correct file.
- move to ModuleBase - strip down to PWM 8 and 16 modes only - remove all dead code - implement missing pwm ioctls (current value, rates, etc) - default rate 50Hz -> 400Hz
LorenzMeier
previously approved these changes
Mar 4, 2018
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I'll test HIL quickly. |
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jMavsim HITL still working. https://logs.px4.io/plot_app?log=c27ae0a0-b333-4948-99f8-db0673bf3364 |
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Reducing pwm sim task stack a bit.
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bkueng
reviewed
Mar 5, 2018
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| )DESCR_STR"); | ||
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| PRINT_MODULE_USAGE_NAME("pwmsim", "driver"); |
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This needs to match the shell command: pwm_out_sim (and the same for px4_task_spawn_cmd).
| )DESCR_STR"); | ||
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| PRINT_MODULE_USAGE_NAME("pwmsim", "driver"); | ||
| PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the task (without any mode set, use any of the mode_* cmds)"); |
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without any mode set is this correct? The constructor initializes with pwm16
| Its only function is to take actuator_control uORB messages, | ||
| mix them with any loaded mixer and output the result to the | ||
| actuator_output uORB topic. PWMSim can also be performed with normal | ||
| PWM outputs, a special flag prevents the outputs to be operated |
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Can you document what the special flag is and how it's configured?
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One of the intermittent CI mission test failures appears to be a problem with pwm_out_sim. While debugging I did a bit of a cleanup.