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refactor fmu: fix naming convention for raw_rc_count & raw_rc_values

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This commit is contained in:
Beat Küng
2018-07-28 15:23:09 +02:00
committed by Lorenz Meier
parent 3816145d59
commit 388b963dd8
1 changed files with 13 additions and 15 deletions
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src/drivers/px4fmu/fmu.cpp
+13 -15
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@@ -260,8 +260,8 @@ private:
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
uint16_t _raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t _raw_rc_count;
static pwm_limit_t _pwm_limit;
static actuator_armed_s _armed;
@@ -383,7 +383,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
_groups_required(0),
_groups_subscribed(0),
_poll_fds_num(0),
raw_rc_count(0),
_raw_rc_count(0),
_failsafe_pwm{0},
_disarmed_pwm{0},
_reverse_pwm_mask(0),
@@ -431,11 +431,9 @@ PX4FMU::PX4FMU(bool run_as_task) :
// initialize raw_rc values and count
for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
raw_rc_values[i] = UINT16_MAX;
_raw_rc_values[i] = UINT16_MAX;
}
raw_rc_count = 0;
// If there is no safety button, disable it on boot.
#ifndef GPIO_BTN_SAFETY
_safety_off = true;
@@ -1126,7 +1124,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count_local,
}
// once filled, reset values back to default
raw_rc_values[i] = UINT16_MAX;
_raw_rc_values[i] = UINT16_MAX;
}
_rc_in.timestamp = now;
@@ -1587,13 +1585,13 @@ PX4FMU::cycle()
// parse new data
if (newBytes > 0) {
rc_updated = sbus_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
rc_updated = sbus_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count, &sbus_failsafe,
&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
}
@@ -1620,13 +1618,13 @@ PX4FMU::cycle()
int8_t dsm_rssi;
// parse new data
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
rc_updated = dsm_parse(_cycle_timestamp, &_rcs_buf[0], newBytes, &_raw_rc_values[0], &_raw_rc_count,
&dsm_11_bit, &frame_drops, &dsm_rssi, input_rc_s::RC_INPUT_MAX_CHANNELS);
if (rc_updated) {
// we have a new DSM frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
false, false, frame_drops, dsm_rssi);
_rc_scan_locked = true;
}
@@ -1659,7 +1657,7 @@ PX4FMU::cycle()
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &lost_count,
&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
&_raw_rc_count, _raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
}
// The st24 will keep outputting RC channels and RSSI even if RC has been lost.
@@ -1669,7 +1667,7 @@ PX4FMU::cycle()
if (lost_count == 0) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
@@ -1708,13 +1706,13 @@ PX4FMU::cycle()
/* set updated flag if one complete packet was parsed */
sumd_rssi = RC_INPUT_RSSI_MAX;
rc_updated = (OK == sumd_decode(_rcs_buf[i], &sumd_rssi, &rx_count,
&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS, &sumd_failsafe));
&_raw_rc_count, _raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS, &sumd_failsafe));
}
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,
fill_rc_in(_raw_rc_count, _raw_rc_values, _cycle_timestamp,
false, sumd_failsafe, frame_drops, sumd_rssi);
_rc_scan_locked = true;
}