AP_Button: range check PWM input #20070
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This seems reasonable to me.. |
tridge
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Feb 15, 2022
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IamPete1
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Feb 15, 2022
| @@ -7,8 +7,6 @@ | |||
| */ | |||
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| // motor test definitions | |||
| #define MOTOR_TEST_PWM_MIN 800 // min pwm value accepted by the test | |||
| #define MOTOR_TEST_PWM_MAX 2200 // max pwm value accepted by the test | |||
| #define MOTOR_TEST_TIMEOUT_MS_MAX 30000 // max timeout is 30 seconds | |||
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interesting that this time out is different vs copters timeout.
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rmackay9
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| @@ -281,7 +281,7 @@ class RC_Channel { | |||
| const char *string_for_aux_function(AUX_FUNC function) const; | |||
| #endif | |||
| // pwm value under which we consider that Radio value is invalid | |||
| static const uint16_t RC_MIN_LIMIT_PWM = 900; | |||
| static const uint16_t RC_MIN_LIMIT_PWM = 800; | |||
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This looks OK but I can't resist saying that this constant's name should really be, "RC_PWM_LIMIT_MIN". Wouldn't that be better? Anyway, no need to change it I just want to pass on my naming wisdom.
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LIMIT is kind of inferred by MIN :-)
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Yes, removing the LIMIT part would also be a fine change.. but not today I'm sure..
rmackay9
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Feb 15, 2022
| @@ -68,7 +66,7 @@ void QuadPlane::motor_test_output() | |||
| } | |||
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| // sanity check throttle values | |||
| if (pwm >= MOTOR_TEST_PWM_MIN && pwm <= MOTOR_TEST_PWM_MAX ) { | |||
| if (pwm >= RC_Channel::RC_MIN_LIMIT_PWM && pwm <= RC_Channel::RC_MAX_LIMIT_PWM) { | |||
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I'd just like to point out here that we are arguably mixing up pwm inputs with output...
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Checks a for a valid value before triggering aux function. Stops miss triggering, this is a change in behavior.
We might want a option to trigger high or low on invalid signal in the future. We might also want to add some HAL functionality to check how recent the last PWM reading is. Currently we cannot tell if the signal stops dead, it needs a full cycle to trigger and will just repeat the last reading forever if that stops.