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fix timer in hardpoint controller

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This commit is contained in:
blah
2016-01-19 13:57:17 -08:00
committed by Lorenz Meier
parent 9228e420d0
commit ecf2b56013
2 changed files with 11 additions and 8 deletions
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17
src/modules/uavcan/actuators/hardpoint.cpp
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@@ -74,14 +74,17 @@ void UavcanHardpointController::set_command(uint8_t hardpoint_id, uint16_t comma
* Publish the command message to the bus * Publish the command message to the bus
*/ */
(void)_uavcan_pub_raw_cmd.broadcast(_cmd); (void)_uavcan_pub_raw_cmd.broadcast(_cmd);
}
void UavcanHardpointController::periodic_update()
{
//lets not broadcast if command is not set
if(_cmd_set == false){
return;
}
/*
* Start the periodic update timer after a command is set
*/
if (!_timer.isRunning())
{
_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
}
}
void UavcanHardpointController::periodic_update(const uavcan::TimerEvent &)
{
(void)_uavcan_pub_raw_cmd.broadcast(_cmd); (void)_uavcan_pub_raw_cmd.broadcast(_cmd);
//do something //do something
} }

2
src/modules/uavcan/actuators/hardpoint.hpp
View File

@@ -66,7 +66,7 @@ private:
bool _cmd_set = false; bool _cmd_set = false;
void UavcanHardpointController::periodic_update(); void periodic_update(const uavcan::TimerEvent &);
typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)> typedef uavcan::MethodBinder<UavcanHardpointController *, void (UavcanHardpointController::*)(const uavcan::TimerEvent &)>
TimerCbBinder; TimerCbBinder;