pwm_out_sim cleanup

- 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
PX4 · Mar 4, 2018 · b9fe0e1 · b9fe0e1
1 parent 3d68540
commit b9fe0e1
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Showing 40 changed files with 841 additions and 1,140 deletions.
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
@@ -504,7 +504,7 @@ then
 
 		if [ $OUTPUT_MODE == hil ]
 		then
-			if pwm_out_sim mode_pwm16
+			if pwm_out_sim start
 			then
 			else
 				tune_control play -m ${TUNE_ERR}

diff --git a/platforms/qurt/src/px4_layer/commands_hil.c b/platforms/qurt/src/px4_layer/commands_hil.c
@@ -56,7 +56,7 @@ const char *get_commands()
 		"mc_pos_control start\n"
 		"mc_att_control start\n"
 		"sleep 1\n"
-		"pwm_out_sim mode_pwm\n"
+		"pwm_out_sim start\n"
 		"param set RC1_MAX 2015\n"
 		"param set RC1_MIN 996\n"
 		"param set RC1_TRIM 1502\n"

diff --git a/posix-configs/SITL/init/ekf2/hippocampus b/posix-configs/SITL/init/ekf2/hippocampus
@@ -13,7 +13,7 @@ dataman start
 
 simulator start -s
 
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 
 gyrosim start

diff --git a/posix-configs/SITL/init/ekf2/iris b/posix-configs/SITL/init/ekf2/iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/iris_1 b/posix-configs/SITL/init/ekf2/iris_1
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/iris_2 b/posix-configs/SITL/init/ekf2/iris_2
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/iris_irlock b/posix-configs/SITL/init/ekf2/iris_irlock
@@ -54,7 +54,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/iris_opt_flow b/posix-configs/SITL/init/ekf2/iris_opt_flow
@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/iris_rplidar b/posix-configs/SITL/init/ekf2/iris_rplidar
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/multiple_iris b/posix-configs/SITL/init/ekf2/multiple_iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/plane b/posix-configs/SITL/init/ekf2/plane
@@ -61,7 +61,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover
@@ -57,7 +57,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

diff --git a/posix-configs/SITL/init/ekf2/solo b/posix-configs/SITL/init/ekf2/solo
@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/ekf2/standard_vtol b/posix-configs/SITL/init/ekf2/standard_vtol
@@ -68,7 +68,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start start
 sensors start
 commander start
 land_detector start vtol

diff --git a/posix-configs/SITL/init/ekf2/tailsitter b/posix-configs/SITL/init/ekf2/tailsitter
@@ -49,7 +49,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

diff --git a/posix-configs/SITL/init/ekf2/tiltrotor b/posix-configs/SITL/init/ekf2/tiltrotor
@@ -70,7 +70,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -56,7 +56,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/inav/iris b/posix-configs/SITL/init/inav/iris
@@ -51,7 +51,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/inav/iris_opt_flow b/posix-configs/SITL/init/inav/iris_opt_flow
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/hippocampus b/posix-configs/SITL/init/lpe/hippocampus
@@ -13,7 +13,7 @@ dataman start
 
 simulator start -s
 
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_test/mixers/uuv_quad_x.mix
 
 gyrosim start

diff --git a/posix-configs/SITL/init/lpe/iris b/posix-configs/SITL/init/lpe/iris
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/iris_1 b/posix-configs/SITL/init/lpe/iris_1
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/iris_2 b/posix-configs/SITL/init/lpe/iris_2
@@ -55,7 +55,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/iris_irlock b/posix-configs/SITL/init/lpe/iris_irlock
@@ -61,7 +61,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/iris_opt_flow b/posix-configs/SITL/init/lpe/iris_opt_flow
@@ -71,7 +71,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/iris_rplidar b/posix-configs/SITL/init/lpe/iris_rplidar
@@ -52,7 +52,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

diff --git a/posix-configs/SITL/init/lpe/plane b/posix-configs/SITL/init/lpe/plane
@@ -59,7 +59,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

diff --git a/posix-configs/SITL/init/lpe/rover b/posix-configs/SITL/init/lpe/rover
@@ -53,7 +53,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sleep 1
 sensors start
 commander start

diff --git a/posix-configs/SITL/init/lpe/solo b/posix-configs/SITL/init/lpe/solo
@@ -53,7 +53,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/lpe/standard_vtol b/posix-configs/SITL/init/lpe/standard_vtol
@@ -63,7 +63,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 land_detector start vtol

diff --git a/posix-configs/SITL/init/lpe/typhoon_h480 b/posix-configs/SITL/init/lpe/typhoon_h480
@@ -50,7 +50,7 @@ accelsim start
 barosim start
 adcsim start
 gpssim start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 sensors start
 commander start
 land_detector start multicopter

diff --git a/posix-configs/SITL/init/rcS_gazebo_delta_wing b/posix-configs/SITL/init/rcS_gazebo_delta_wing
@@ -35,7 +35,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 sensors start
 commander start
 navigator start

diff --git a/posix-configs/SITL/init/test/cmd_template.in b/posix-configs/SITL/init/test/cmd_template.in
@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 
 ver all
 

diff --git a/posix-configs/SITL/init/test/tests_template.in b/posix-configs/SITL/init/test/tests_template.in
@@ -13,7 +13,7 @@ barosim start
 adcsim start
 gpssim start
 measairspeedsim start
-pwm_out_sim mode_pwm
+pwm_out_sim start
 
 ver all
 

diff --git a/posix-configs/eagle/hil/px4.config b/posix-configs/eagle/hil/px4.config
@@ -47,7 +47,7 @@ mc_pos_control start
 mc_att_control start
 land_detector start multicopter
 sleep 1
-pwm_out_sim mode_pwm
+pwm_out_sim start
 mixer load /dev/pwm_output0 /startup/quad_x.main.mix
 list_devices
 list_files

diff --git a/posix-configs/rpi/px4_hil.config b/posix-configs/rpi/px4_hil.config
@@ -18,7 +18,7 @@ mc_pos_control start
 mc_att_control start
 mavlink start -x -u 14577 -r 1000000
 navio_sysfs_rc_in start
-pwm_out_sim mode_pwm16
+pwm_out_sim start
 mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
 logger start -t -b 200
 mavlink boot_complete

diff --git a/src/drivers/pwm_out_sim/CMakeLists.txt b/src/drivers/pwm_out_sim/CMakeLists.txt
@@ -33,12 +33,6 @@
 px4_add_module(
 	MODULE drivers__pwm_out_sim
 	MAIN pwm_out_sim
-	STACK_MAIN 1200
-	STACK_MAX 1200
-	COMPILE_FLAGS
 	SRCS
-		pwm_out_sim.cpp
-	DEPENDS
-		platforms__common
+		PWMSim.cpp
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :