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Fixed scaling of RC calibration in IO driver, fixed interpretation of (odd, but APM-compatible) channel reverse flag

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Lorenz Meier
2013-02-12 09:33:52 +01:00
parent 01ada7f74f
commit 163257f3bd
1 changed files with 24 additions and 6 deletions
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apps/drivers/px4io/px4io.cpp
+24 -6
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@@ -594,34 +594,52 @@ PX4IO::io_set_rc_config()
char pname[16]; char pname[16];
float fval; float fval;
/*
* RC params are floats, but do only
* contain integer values. Do not scale
* or cast them, let the auto-typeconversion
* do its job here.
* Channels: 500 - 2500
* Inverted flag: -1 (inverted) or 1 (normal)
*/
sprintf(pname, "RC%d_MIN", i + 1); sprintf(pname, "RC%d_MIN", i + 1);
param_get(param_find(pname), &fval); param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MIN] = FLOAT_TO_REG(fval); regs[PX4IO_P_RC_CONFIG_MIN] = fval;
sprintf(pname, "RC%d_TRIM", i + 1); sprintf(pname, "RC%d_TRIM", i + 1);
param_get(param_find(pname), &fval); param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_CENTER] = FLOAT_TO_REG(fval); regs[PX4IO_P_RC_CONFIG_CENTER] = fval;
sprintf(pname, "RC%d_MAX", i + 1); sprintf(pname, "RC%d_MAX", i + 1);
param_get(param_find(pname), &fval); param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_MAX] = FLOAT_TO_REG(fval); regs[PX4IO_P_RC_CONFIG_MAX] = fval;
sprintf(pname, "RC%d_DZ", i + 1); sprintf(pname, "RC%d_DZ", i + 1);
param_get(param_find(pname), &fval); param_get(param_find(pname), &fval);
regs[PX4IO_P_RC_CONFIG_DEADZONE] = FLOAT_TO_REG(fval); regs[PX4IO_P_RC_CONFIG_DEADZONE] = fval;
regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i]; regs[PX4IO_P_RC_CONFIG_ASSIGNMENT] = input_map[i];
regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; regs[PX4IO_P_RC_CONFIG_OPTIONS] = PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
sprintf(pname, "RC%d_REV", i + 1); sprintf(pname, "RC%d_REV", i + 1);
param_get(param_find(pname), &fval); param_get(param_find(pname), &fval);
if (fval > 0)
/*
* This has been taken for the sake of compatibility
* with APM's setup / mission planner: normal: 1,
* inverted: -1
*/
if (fval < 0) {
regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE; regs[PX4IO_P_RC_CONFIG_OPTIONS] |= PX4IO_P_RC_CONFIG_OPTIONS_REVERSE;
}
/* send channel config to IO */ /* send channel config to IO */
ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE); ret = io_reg_set(PX4IO_PAGE_RC_CONFIG, offset, regs, PX4IO_P_RC_CONFIG_STRIDE);
if (ret != OK) if (ret != OK) {
log("RC config update failed");
break; break;
}
offset += PX4IO_P_RC_CONFIG_STRIDE; offset += PX4IO_P_RC_CONFIG_STRIDE;
} }