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Added support for a total of four control groups to the IO driver and IO firmware. This allows to run auxiliary payload. Cleaned up defines for RC input channel counts, this needs another sweep to then finally allow up to 16 mapped channels and up to 20-24 RAW RC channels

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This commit is contained in:
Lorenz Meier
2013-12-08 11:25:45 +01:00
parent 264ef47197
commit 0ba507b640
7 changed files with 166 additions and 71 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -2
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@@ -236,13 +236,13 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
if (control_group != 0)
if (control_group > 3)
return -1;
switch (source) {
case MIX_FMU:
if (control_index < PX4IO_CONTROL_CHANNELS) {
control = REG_TO_FLOAT(r_page_controls[control_index]);
control = REG_TO_FLOAT(r_page_controls[CONTROL_PAGE_INDEX(control_group, control_index)]);
break;
}
return -1;