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pwm systemcmd can now set the failsafe values, fmu uses failsafe values as well now, fix to only send the appropriate number of pwm values to IO at once

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This commit is contained in:
Julian Oes
2013-10-19 10:43:41 +02:00
parent 5d36971689
commit 1d3f25ee6c
5 changed files with 233 additions and 174 deletions
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src/modules/px4iofirmware/registers.c
+10 -3
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@@ -199,7 +199,7 @@ uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRI
*
* Disable pulses as default.
*/
uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 };
uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 };
/**
* PAGE 106
@@ -276,8 +276,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* copy channel data */
while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
/* XXX range-check value? */
r_page_servo_failsafe[offset] = *values;
if (*values == 0) {
/* ignore 0 */
} else if (*values < PWM_MIN) {
r_page_servo_failsafe[offset] = PWM_MIN;
} else if (*values > PWM_MAX) {
r_page_servo_failsafe[offset] = PWM_MAX;
} else {
r_page_servo_failsafe[offset] = *values;
}
/* flag the failsafe values as custom */
r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;