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Added flag to disable RC evaluation onboard of IO (raw values still forwarded)

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Lorenz Meier
2013-08-21 11:17:29 +02:00
parent 2a58929ffd
commit 5fbee23945
4 changed files with 36 additions and 11 deletions
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src/drivers/px4io/px4io.cpp
+23 -8
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@@ -206,7 +206,8 @@ 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
@@ -393,6 +394,7 @@ 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),
@@ -588,12 +590,16 @@ PX4IO::init()
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 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;
}
}
}
@@ -847,6 +853,15 @@ PX4IO::io_set_arming_state()
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
}
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()
{
@@ -1365,7 +1380,7 @@ 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"),