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updated to use rc driver from PX4, instead of from FC addons (#7798)

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* updated to use rc driver from PX4, instead of from FC addons

* fixed format

* update per comments

* fix format

* fix format

* remove duplicated __PX4_QURT
This commit is contained in:
Larry Wang
2017-09-08 07:09:53 +02:00
committed by ChristophTobler
parent 8f1355c325
commit 0ae76aff32
5 changed files with 26 additions and 68 deletions
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src/drivers/spektrum_rc/spektrum_rc.cpp
+21 -4
View File
@@ -41,6 +41,7 @@
#include <px4_tasks.h>
#include <px4_posix.h>
#include <px4_getopt.h>
#include <lib/rc/dsm.h>
#include <drivers/drv_rc_input.h>
@@ -76,7 +77,23 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
void task_main(int argc, char *argv[])
{
int uart_fd = dsm_init(SPEKTRUM_UART_DEVICE_PATH);
const char *device_path = SPEKTRUM_UART_DEVICE_PATH;
int ch;
int myoptind = 1;
const char *myoptarg = NULL;
while ((ch = px4_getopt(argc, argv, "d:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'd':
device_path = myoptarg;
break;
default:
break;
}
}
int uart_fd = dsm_init(device_path);
if (uart_fd < 1) {
PX4_ERR("dsm init failed");
@@ -190,7 +207,7 @@ void fill_input_rc(uint16_t raw_rc_count, uint16_t raw_rc_values[input_rc_s::RC_
input_rc.rc_total_frame_count = 0;
}
int start()
int start(int argc, char *argv[])
{
if (_is_running) {
PX4_WARN("already running");
@@ -206,7 +223,7 @@ int start()
SCHED_PRIORITY_DEFAULT,
2000,
(px4_main_t)&task_main,
nullptr);
(char *const *)argv);
if (_task_handle < 0) {
PX4_ERR("task start failed");
@@ -263,7 +280,7 @@ int spektrum_rc_main(int argc, char *argv[])
if (!strcmp(verb, "start")) {
return spektrum_rc::start();
return spektrum_rc::start(argc - 1, argv + 1);
}
else if (!strcmp(verb, "stop")) {