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Merged release_v1.0.0 into master

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This commit is contained in:
Lorenz Meier
2015-05-27 15:28:41 -07:00
parent a2bb8cd766 d7547d388f
commit 4565f57468
102 changed files with 977 additions and 2266 deletions
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src/drivers/px4io/px4io.cpp
+36 -3
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@@ -281,6 +281,7 @@ private:
int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic
bool _param_update_force; ///< force a parameter update
int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_param_update_force(false),
_t_vehicle_command(-1),
_to_input_rc(nullptr),
_to_outputs(nullptr),
@@ -766,7 +768,7 @@ PX4IO::init()
cmd.param5 = 0;
cmd.param6 = 0;
cmd.param7 = 0;
cmd.command = VEHICLE_CMD_COMPONENT_ARM_DISARM;
cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
/* ask to confirm command */
cmd.confirmation = 1;
@@ -917,6 +919,8 @@ PX4IO::task_main()
fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN;
_param_update_force = true;
/* lock against the ioctl handler */
lock();
@@ -1005,7 +1009,7 @@ PX4IO::task_main()
orb_copy(ORB_ID(vehicle_command), _t_vehicle_command, &cmd);
// Check for a DSM pairing command
if (((int)cmd.command == VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
if (((int)cmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) && ((int)cmd.param1 == 0)) {
dsm_bind_ioctl((int)cmd.param2);
}
}
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
*/
orb_check(_t_param, &updated);
if (updated) {
if (updated || _param_update_force) {
_param_update_force = false;
parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -1089,6 +1094,26 @@ PX4IO::task_main()
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Set invert mask for PWM outputs (does not apply to S.Bus)
*/
int16_t pwm_invert_mask = 0;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the channel reverse mask from parameters */
sprintf(pname, "PWM_MAIN_REV%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_invert_mask |= ((int16_t)(ival != 0)) << i;
}
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
}
}
@@ -2095,7 +2120,15 @@ PX4IO::print_status(bool extended_status)
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
uint16_t pwm_invert_mask = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE);
printf("\n");
printf("reversed outputs: [");
for (unsigned i = 0; i < _max_actuators; i++) {
printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
}
printf("]\n");
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%d raw R/C inputs", raw_inputs);