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Base max actuators on board revision

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This commit is contained in:
Julian Oes
2013-10-11 16:59:21 +02:00
parent 3cbe1ee1a8
commit 5d36971689
1 changed files with 10 additions and 2 deletions
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src/drivers/px4fmu/fmu.cpp
+10 -2
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@@ -101,7 +101,12 @@ public:
int set_pwm_alt_channels(uint32_t channels);
private:
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
static const unsigned _max_actuators = 4;
#endif
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
static const unsigned _max_actuators = 6;
#endif
Mode _mode;
unsigned _pwm_default_rate;
@@ -214,10 +219,13 @@ PX4FMU::PX4FMU() :
_pwm_on(false),
_mixers(nullptr),
_disarmed_pwm({0}),
_min_pwm({PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN}),
_max_pwm({PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX}),
_num_disarmed_set(0)
{
for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_MIN;
_max_pwm[i] = PWM_MAX;
}
_debug_enabled = true;
}