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Moved the channel mappings and attributes to the config section

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This commit is contained in:
Simon Wilks
2013-01-06 04:21:04 +01:00
parent 0a89ab7075
commit 7842caf3b2
6 changed files with 78 additions and 64 deletions
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apps/drivers/px4io/px4io.cpp
+47 -36
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@@ -222,7 +222,7 @@ PX4IO::PX4IO() :
_relays(0),
_switch_armed(false),
_send_needed(false),
_config_needed(false)
_config_needed(true)
{
/* we need this potentially before it could be set in task_main */
g_dev = this;
@@ -447,12 +447,6 @@ PX4IO::task_main()
}
}
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
/* send a config packet to IO if required */
if (_config_needed) {
_config_needed = false;
@@ -467,6 +461,12 @@ PX4IO::task_main()
_mix_buf = nullptr;
_mix_buf_len = 0;
}
/* send an update to IO if required */
if (_send_needed) {
_send_needed = false;
io_send();
}
}
unlock();
@@ -608,35 +608,6 @@ PX4IO::io_send()
cmd.manual_override_ok = _vstatus.flag_external_manual_override_ok;
/* set desired PWM output rate */
cmd.servo_rate = _update_rate;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
cmd.rc_map[0] = param_find("RC_MAP_ROLL");
cmd.rc_map[1] = param_find("RC_MAP_PITCH");
cmd.rc_map[2] = param_find("RC_MAP_YAW");
cmd.rc_map[3] = param_find("RC_MAP_THROTTLE");
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
cmd.rc_min[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
cmd.rc_trim[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
cmd.rc_max[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
cmd.rc_rev[i] = (uint16_t)param_find(nbuf);
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
cmd.rc_dz[i] = (uint16_t)param_find(nbuf);
}
ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd));
@@ -652,6 +623,46 @@ PX4IO::config_send()
cfg.f2i_config_magic = F2I_CONFIG_MAGIC;
int val;
/* maintaing the standard order of Roll, Pitch, Yaw, Throttle */
param_get(param_find("RC_MAP_ROLL"), &val);
cfg.rc_map[0] = (uint8_t)val;
param_get(param_find("RC_MAP_PITCH"), &val);
cfg.rc_map[1] = (uint8_t)val;
param_get(param_find("RC_MAP_YAW"), &val);
cfg.rc_map[2] = (uint8_t)val;
param_get(param_find("RC_MAP_THROTTLE"), &val);
cfg.rc_map[3] = (uint8_t)val;
/* set the individual channel properties */
char nbuf[16];
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MIN", i);
param_get(param_find(nbuf), &val);
cfg.rc_min[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_TRIM", i);
param_get(param_find(nbuf), &val);
cfg.rc_trim[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_MAX", i);
param_get(param_find(nbuf), &val);
cfg.rc_max[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_REV", i);
param_get(param_find(nbuf), &val);
cfg.rc_rev[i] = (uint16_t)val;
}
for (unsigned i = 0; i < 4; i++) {
sprintf(nbuf, "RC%d_DZ", i);
param_get(param_find(nbuf), &val);
cfg.rc_dz[i] = (uint16_t)val;
}
ret = hx_stream_send(_io_stream, &cfg, sizeof(cfg));
if (ret)