Merge pull request #446 from rosflight/ptt/move_pwm

Move sending of PWM from the mixer to the main loop.

Author: JMoore5353

include/mixer.h

@@ -284,7 +284,8 @@ class Mixer : public ParamListenerInterface
   void param_change_callback(uint16_t param_id) override;
   void set_new_aux_command(aux_command_t new_aux_command);
   inline const float * get_outputs() const { return raw_outputs_; }
-
+  float * raw_outputs() { return raw_outputs_; } // board pwm write does not expect a const value.
+ 
   void calculate_mixer_values();
   void mix_multirotor();
   void mix_fixedwing();

src/mixer.cpp

@@ -700,7 +700,6 @@ void Mixer::mix_output()
       raw_outputs_[i] = value;
     }
   }
-  RF_.board_.pwm_write_multi(raw_outputs_, NUM_TOTAL_OUTPUTS);
 }
 
 } // namespace rosflight_firmware

src/rosflight.cpp

@@ -106,14 +106,15 @@ void ROSflight::run()
   /*********************/
   /***  Control Loop ***/
   /*********************/
-  uint64_t start = board_.clock_micros();
-
+ 
   got_flags got = sensors_.run(); // IMU, GNSS, Baro, Mag, Pitot, SONAR, Battery
 
   if (got.imu) {
+    uint64_t start = board_.clock_micros();
     estimator_.run();
     controller_.run();
     mixer_.mix_output();
+    board_.pwm_write_multi(mixer_.raw_outputs(), Mixer::NUM_TOTAL_OUTPUTS);
     loop_time_us = board_.clock_micros() - start;
   }