fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 02:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

VOXL2 board support updates (#21426)

Browse Source
This commit is contained in:
Eric Katzfey
2023-04-19 11:21:02 -04:00
committed by GitHub
parent cb66c48876
commit 018ca6b49d
17 changed files with 755 additions and 141 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/actuators/modal_io/modal_io.cpp
+18 -14
View File
@@ -31,6 +31,8 @@
*
****************************************************************************/
#include <inttypes.h>
#include <px4_platform_common/getopt.h>
#include "modal_io.hpp"
@@ -255,7 +257,9 @@ int ModalIo::task_spawn(int argc, char *argv[])
PX4_ERR("alloc failed");
}
delete instance;
// This will cause a crash on SLPI DSP
// delete instance;
_object.store(nullptr);
_task_id = -1;
@@ -322,7 +326,7 @@ int ModalIo::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
uint32_t voltage = fb.voltage;
int32_t current = fb.current * 8;
int32_t temperature = fb.temperature / 100;
PX4_INFO("[%lld] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1,
PX4_INFO("[%" PRId64 "] ID_RAW=%d ID=%d, RPM=%5d, PWR=%3d%%, V=%5dmV, I=%+5dmA, T=%+3dC", tnow, (int)id, motor_idx + 1,
(int)rpm, (int)power, (int)voltage, (int)current, (int)temperature);
}
@@ -1426,21 +1430,21 @@ int ModalIo::print_status()
PX4_INFO("");
PX4_INFO("Params: MODAL_IO_CONFIG: %li", _parameters.config);
PX4_INFO("Params: MODAL_IO_BAUD: %li", _parameters.baud_rate);
PX4_INFO("Params: MODAL_IO_CONFIG: %" PRId32, _parameters.config);
PX4_INFO("Params: MODAL_IO_BAUD: %" PRId32, _parameters.baud_rate);
PX4_INFO("Params: MODAL_IO_FUNC1: %li", _parameters.function_map[0]);
PX4_INFO("Params: MODAL_IO_FUNC2: %li", _parameters.function_map[1]);
PX4_INFO("Params: MODAL_IO_FUNC3: %li", _parameters.function_map[2]);
PX4_INFO("Params: MODAL_IO_FUNC4: %li", _parameters.function_map[3]);
PX4_INFO("Params: MODAL_IO_FUNC1: %" PRId32, _parameters.function_map[0]);
PX4_INFO("Params: MODAL_IO_FUNC2: %" PRId32, _parameters.function_map[1]);
PX4_INFO("Params: MODAL_IO_FUNC3: %" PRId32, _parameters.function_map[2]);
PX4_INFO("Params: MODAL_IO_FUNC4: %" PRId32, _parameters.function_map[3]);
PX4_INFO("Params: MODAL_IO_SDIR1: %li", _parameters.direction_map[0]);
PX4_INFO("Params: MODAL_IO_SDIR2: %li", _parameters.direction_map[1]);
PX4_INFO("Params: MODAL_IO_SDIR3: %li", _parameters.direction_map[2]);
PX4_INFO("Params: MODAL_IO_SDIR4: %li", _parameters.direction_map[3]);
PX4_INFO("Params: MODAL_IO_SDIR1: %" PRId32, _parameters.direction_map[0]);
PX4_INFO("Params: MODAL_IO_SDIR2: %" PRId32, _parameters.direction_map[1]);
PX4_INFO("Params: MODAL_IO_SDIR3: %" PRId32, _parameters.direction_map[2]);
PX4_INFO("Params: MODAL_IO_SDIR4: %" PRId32, _parameters.direction_map[3]);
PX4_INFO("Params: MODAL_IO_RPM_MIN: %li", _parameters.rpm_min);
PX4_INFO("Params: MODAL_IO_RPM_MAX: %li", _parameters.rpm_max);
PX4_INFO("Params: MODAL_IO_RPM_MIN: %" PRId32, _parameters.rpm_min);
PX4_INFO("Params: MODAL_IO_RPM_MAX: %" PRId32, _parameters.rpm_max);
PX4_INFO("");