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1.Add sbus driver for linux . This driver can be used to read the

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inverted S.bus signal and fetch the data of each channel and publish it

2. Fix the bug of linux_pwm_out, when the protocol is pca9685,
after the init method is executed,the method of determining the return
value of init method is incorrect,this will cause the driver to fail

3. Add linux_sbus driver to other posix prefixes cmake files
This commit is contained in:
crossa
2017-08-20 16:51:04 +01:00
committed by Nuno Marques
parent b2a81ed35b
commit 17ba5dd04a
11 changed files with 545 additions and 6 deletions
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src/drivers/linux_pwm_out/linux_pwm_out.cpp
+9 -3
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@@ -211,12 +211,18 @@ void task_main(int argc, char *argv[])
PX4_INFO("Starting PWM output in ocpoc_mmap mode");
pwm_out = new OcpocMmapPWMOut(_max_num_outputs);
} else { // navio
} else { /* navio */
PX4_INFO("Starting PWM output in Navio mode");
pwm_out = new NavioSysfsPWMOut(_device, _max_num_outputs);
}
if (pwm_out->init() != 0) {
/**
* if the _protocol is "pca9685" and the driver is executed correctly，
* the return value of "pwm_out->init()" will be higher than 0.
*/
bool check_pwm_device = (strcmp(_protocol, "pca9685") == 0) ? (0 > pwm_out->init()) : (pwm_out->init() != 0);
if (check_pwm_device) {
PX4_ERR("PWM output init failed");
delete pwm_out;
return;
@@ -494,7 +500,7 @@ int linux_pwm_out_main(int argc, char *argv[])
}
}
// gets the parameters for the esc's pwm
/** gets the parameters for the esc's pwm */
param_get(param_find("PWM_DISARMED"), &linux_pwm_out::_pwm_disarmed);
param_get(param_find("PWM_MIN"), &linux_pwm_out::_pwm_min);
param_get(param_find("PWM_MAX"), &linux_pwm_out::_pwm_max);