fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-19 15:59:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

debugging fmu mode_pwm4 not recognized

Browse Source
This commit is contained in:
Mark Whitehorn 2016-10-23 12:43:16 -06:00 committed by Lorenz Meier
parent ea83b67bd8
commit 82bfaf3967
1 changed files with 30 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
src/drivers/px4fmu/fmu.cpp
View File

@ -761,23 +761,30 @@ PX4FMU::update_pwm_rev_mask()
void
PX4FMU::update_pwm_trims()
{
struct pwm_output_values pwm;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
if (_mixers == nullptr) {
PX4_WARN("no mixers defined");
} else {
/* fill the struct from parameters */
sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
param_t param_h = param_find(pname);
uint16_t values[_max_actuators] = {};
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm.values[i] = ival;
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
/* fill the struct from parameters */
sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
param_t param_h = param_find(pname);
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
values[i] = ival;
PX4_INFO("aux trim %d %d", i, values[i]);
}
}
}
/* copy the trim values to the mixer offsets */
_mixers->set_trims(pwm.values, _max_actuators);
/* copy the trim values to the mixer offsets */
_mixers->set_trims(values, _max_actuators);
}
}
void
@ -951,6 +958,7 @@ PX4FMU::cycle()
pwm_limit_init(&_pwm_limit);
update_pwm_rev_mask();
update_pwm_trims();
#ifdef RC_SERIAL_PORT
@ -968,8 +976,15 @@ PX4FMU::cycle()
px4_arch_unconfiggpio(GPIO_PPM_IN);
#endif
#endif
param_find("MOT_SLEW_MAX");
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
sprintf(pname, "PWM_AUX_TRIM%d", i + 1);
param_find(pname);
}
_initialized = true;
}
@ -1140,6 +1155,7 @@ PX4FMU::cycle()
uint16_t pwm_limited[_max_actuators];
/* the PWM limit call takes care of out of band errors, NaN and constrains */
// TODO: remove trim_pwm parameter
pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask,
_trim_pwm, _disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit);
@ -1251,6 +1267,7 @@ PX4FMU::cycle()
orb_copy(ORB_ID(parameter_update), _param_sub, &pupdate);
update_pwm_rev_mask();
update_pwm_trims();
int32_t dsm_bind_val;
param_t param_handle;