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Rename the FMU->IO output controls to reflect the fact that they are controls, not servo values.

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This commit is contained in:
px4dev
2012-12-29 17:15:48 -08:00
parent b8250de1e6
commit 85375c2201
4 changed files with 6 additions and 7 deletions
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apps/px4io/comms.c
+2 -2
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@@ -171,8 +171,8 @@ comms_handle_command(const void *buffer, size_t length)
irqstate_t flags = irqsave(); irqstate_t flags = irqsave();
/* fetch new PWM output values */ /* fetch new PWM output values */
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++)
system_state.fmu_channel_data[i] = cmd->servo_command[i]; system_state.fmu_channel_data[i] = cmd->output_control[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */ /* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if (system_state.arm_ok && !cmd->arm_ok) { if (system_state.arm_ok && !cmd->arm_ok) {
apps/px4io/mixer.cpp
+1 -2
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@@ -85,7 +85,7 @@ mixer_tick(void)
*/ */
if (system_state.mixer_use_fmu) { if (system_state.mixer_use_fmu) {
/* we have recent control data from the FMU */ /* we have recent control data from the FMU */
control_count = PX4IO_OUTPUT_CHANNELS; control_count = PX4IO_CONTROL_CHANNELS;
control_values = &system_state.fmu_channel_data[0]; control_values = &system_state.fmu_channel_data[0];
/* check that we are receiving fresh data from the FMU */ /* check that we are receiving fresh data from the FMU */
@@ -170,7 +170,6 @@ mixer_callback(uintptr_t handle,
return -1; return -1;
/* scale from current PWM units (1000-2000) to mixer input values */ /* scale from current PWM units (1000-2000) to mixer input values */
/* XXX this presents some ugly problems w.r.t failsafe and R/C input scaling that have to be addressed */
control = ((float)control_values[control_index] - 1500.0f) / 500.0f; control = ((float)control_values[control_index] - 1500.0f) / 500.0f;
return 0; return 0;
apps/px4io/protocol.h
+2 -2
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@@ -41,7 +41,7 @@
#pragma once #pragma once
#define PX4IO_OUTPUT_CHANNELS 8 #define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_INPUT_CHANNELS 12 #define PX4IO_INPUT_CHANNELS 12
#define PX4IO_RELAY_CHANNELS 4 #define PX4IO_RELAY_CHANNELS 4
@@ -54,7 +54,7 @@ struct px4io_command {
uint16_t f2i_magic; uint16_t f2i_magic;
#define F2I_MAGIC 0x636d #define F2I_MAGIC 0x636d
uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; uint16_t output_control[PX4IO_CONTROL_CHANNELS];
bool relay_state[PX4IO_RELAY_CHANNELS]; bool relay_state[PX4IO_RELAY_CHANNELS];
bool arm_ok; bool arm_ok;
}; };
apps/px4io/px4io.h
+1 -1
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@@ -81,7 +81,7 @@ struct sys_state_s {
/* /*
* Control signals from FMU. * Control signals from FMU.
*/ */
uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS]; uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS];
/* /*
* Mixed servo outputs * Mixed servo outputs