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Code Issues Releases Activity

Solve a bug that causes the motor spin on the first save for ActuatorSettings.

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This commit is contained in:
a*morale 2012-06-24 14:06:51 +02:00
parent 688ae814fc
commit 51678f24b4
1 changed files with 4 additions and 4 deletions
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8
flight/Modules/Actuator/actuator.c
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@ -82,6 +82,7 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
const float period);
static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
//this structure is equivalent to the UAVObjects for one mixer.
typedef struct {
uint8_t type;
@ -553,7 +554,6 @@ static void setFailsafe()
*/
static void actuator_update_rate(UAVObjEvent * ev)
{
static uint16_t lastChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM] = {0,0,0,0};
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// ActuatoSettings are not changed
if ( ev->obj != ActuatorSettingsHandle() )
@ -563,9 +563,7 @@ static void actuator_update_rate(UAVObjEvent * ev)
// check if the any rate setting is changed
if (lastChannelUpdateFreq[0]!=0 && memcmp(&lastChannelUpdateFreq[0], &ChannelUpdateFreq[0], sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM) ==0)
return;
// save the new rates
memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
// signal to the actuator task that ChannelUpdateFreq are changed
// signal to the actuator task that ChannelUpdateFreq are changed
updateRateChanged = 1;
}
/**
@ -574,7 +572,9 @@ static void actuator_update_rate(UAVObjEvent * ev)
static void change_update_rate()
{
uint16_t ChannelUpdateFreq[ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM];
// save the new rates
ActuatorSettingsChannelUpdateFreqGet(ChannelUpdateFreq);
memcpy(lastChannelUpdateFreq, ChannelUpdateFreq, sizeof(int16_t) * ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
PIOS_Servo_SetHz(&ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
}