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Merged fmuv2_bringup

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This commit is contained in:
Lorenz Meier
2013-08-21 15:19:19 +02:00
parent 5a8dc9c504 db1229dca3
commit 309ea81460
20 changed files with 804 additions and 535 deletions
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src/drivers/px4io/px4io.cpp
+49 -8
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@@ -192,6 +192,11 @@ public:
*/
void print_status();
/**
* Disable RC input handling
*/
int disable_rc_handling();
/**
* Set the DSM VCC is controlled by relay one flag
*
@@ -223,7 +228,8 @@ private:
unsigned _max_relays; ///<Maximum relays supported by PX4IO
unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
unsigned _update_interval; ///<Subscription interval limiting send rate
unsigned _update_interval; ///< Subscription interval limiting send rate
bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values
volatile int _task; ///<worker task id
volatile bool _task_should_exit; ///<worker terminate flag
@@ -293,6 +299,11 @@ private:
*/
int io_get_status();
/**
* Disable RC input handling
*/
int io_disable_rc_handling();
/**
* Fetch RC inputs from IO.
*
@@ -411,6 +422,7 @@ PX4IO::PX4IO(device::Device *interface) :
_max_relays(0),
_max_transfer(16), /* sensible default */
_update_interval(0),
_rc_handling_disabled(false),
_task(-1),
_task_should_exit(false),
_mavlink_fd(-1),
@@ -615,12 +627,16 @@ PX4IO::init()
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE, 0);
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
return ret;
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail");
return ret;
}
}
}
@@ -915,6 +931,21 @@ PX4IO::io_set_arming_state()
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::disable_rc_handling()
{
return io_disable_rc_handling();
}
int
PX4IO::io_disable_rc_handling()
{
uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED;
uint16_t clear = 0;
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
int
PX4IO::io_set_rc_config()
{
@@ -1456,7 +1487,7 @@ PX4IO::print_status()
(((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""),
((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""),
((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""),
((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"),
((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"),
((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"),
@@ -1866,6 +1897,16 @@ start(int argc, char *argv[])
errx(1, "driver init failed");
}
/* disable RC handling on request */
if (argc > 0 && !strcmp(argv[0], "norc")) {
if(g_dev->disable_rc_handling())
warnx("Failed disabling RC handling");
} else {
warnx("unknown argument: %s", argv[0]);
}
int dsm_vcc_ctl;
if (param_get(param_find("RC_RL1_DSM_VCC"), &dsm_vcc_ctl) == OK) {