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Fix classic SITL after being broken by PR#743
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haitomatic committed Sep 5, 2024
1 parent bd2d6ae commit a2658cc
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Showing 2 changed files with 24 additions and 3 deletions.
22 changes: 19 additions & 3 deletions src/modules/simulation/pwm_out_sim/PWMSim.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -44,14 +44,30 @@
PWMSim::PWMSim(bool hil_mode_enabled) :
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
{
bool use_magic_numbers = false;
for (int i = 0; i < MAX_ACTUATORS; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MIN", i + 1);
param_get(param_find(param_name), &_pwm_min[i]);
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MAX", i + 1);
param_get(param_find(param_name), &_pwm_max[i]);
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "DIS", i + 1);
param_get(param_find(param_name), &_pwm_disarmed[i]);
if (param_get(param_find(param_name), &_pwm_max[i]) == PX4_OK &&
param_get(param_find(param_name), &_pwm_min[i]) == PX4_OK &&
param_get(param_find(param_name), &_pwm_disarmed[i]) == PX4_OK) {

} else {
// invalid parameters, set to magic numbers
_pwm_max[i] = PWM_SIM_PWM_MAX_MAGIC;
_pwm_min[i] = PWM_SIM_PWM_MIN_MAGIC;
_pwm_disarmed[i] = PWM_SIM_PWM_DISARMED_MAGIC;
use_magic_numbers = true;
}
}

if (use_magic_numbers) {
_mixing_output.setAllDisarmedValues(PWM_SIM_DISARMED_MAGIC);
_mixing_output.setAllFailsafeValues(PWM_SIM_FAILSAFE_MAGIC);
_mixing_output.setAllMinValues(PWM_SIM_PWM_MIN_MAGIC);
_mixing_output.setAllMaxValues(PWM_SIM_PWM_MAX_MAGIC);
}

_mixing_output.setIgnoreLockdown(hil_mode_enabled);
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5 changes: 5 additions & 0 deletions src/modules/simulation/pwm_out_sim/PWMSim.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,11 @@ class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
private:
void Run() override;

static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;

int32_t _pwm_min[MAX_ACTUATORS] {};
int32_t _pwm_max[MAX_ACTUATORS] {};
int32_t _pwm_disarmed[MAX_ACTUATORS] {};
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