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[uavcan] actuators - fix #3377

Merged
merged 3 commits into from
Oct 2, 2024
Merged

[uavcan] actuators - fix #3377

merged 3 commits into from
Oct 2, 2024

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dewagter
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@dewagter dewagter commented Oct 1, 2024

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This was referenced Oct 1, 2024
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@fvantienen
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The idea was to add the RunOnceEvery here, which also solves the problem:

paparazzi/sw/airborne/modules/actuators/actuators_uavcan1.h

Line 37 in d1cf1de

#define ActuatorsUavcan1Commit() actuators_uavcan_commit(&uavcan1, actuators_uavcan1_values, SERVOS_UAVCAN1_NB)

paparazzi/sw/airborne/modules/actuators/actuators_uavcan2.h

Line 37 in d1cf1de

#define ActuatorsUavcan2Commit() actuators_uavcan_commit(&uavcan2, actuators_uavcan2_values, SERVOS_UAVCAN2_NB)

paparazzi/sw/airborne/modules/actuators/actuators_uavcan1cmd.h

Line 37 in d1cf1de

#define ActuatorsUavcan1CmdCommit() actuators_uavcan_cmd_commit(&uavcan1, actuators_uavcan1cmd_values, SERVOS_UAVCAN1CMD_NB)

paparazzi/sw/airborne/modules/actuators/actuators_uavcan2cmd.h

Line 37 in d1cf1de

#define ActuatorsUavcan2CmdCommit() actuators_uavcan_cmd_commit(&uavcan2, actuators_uavcan2cmd_values, SERVOS_UAVCAN2CMD_NB)

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dewagter commented Oct 1, 2024

You prefer

#define ActuatorsUavcan2Commit() RunOnceEvery(XXX,actuators_uavcan_commit than having it in the driver like now or slowing down the actuator freq?

@dewagter dewagter self-assigned this Oct 1, 2024
@dewagter dewagter added the bug label Oct 1, 2024
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Yes since it is not nice to make a variable inside the iface. Because if you don't have the actuators this variable is unused.

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dewagter commented Oct 1, 2024

@fvantienen Like this?

@fvantienen fvantienen merged commit b7b64d4 into master Oct 2, 2024
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@fvantienen fvantienen deleted the fix_update_uavcan branch October 2, 2024 09:11
NoahWe pushed a commit to tudelft/paparazzi that referenced this pull request Oct 14, 2024
@dewagter @NoahWe
[uavcan] actuators - fix (paparazzi#3377)
ce07209 
* Revert "RunOnceEvery instead of counter"

This reverts commit 4601b20.

* Revert "Revert "RunOnceEvery instead of counter""

This reverts commit d1cf1de.

* Move to headers
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@fvantienen fvantienen fvantienen approved these changes

@gautierhattenberger gautierhattenberger Awaiting requested review from gautierhattenberger

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