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ported vtol module to posix

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This commit is contained in:
tumbili
2015-10-27 10:18:28 +01:00
parent 146def6433
commit 93e557ab75
6 changed files with 50 additions and 43 deletions
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src/modules/vtol_att_control/standard.cpp
+6 -6
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@@ -288,11 +288,11 @@ Standard::set_max_mc(unsigned pwm_value)
int ret;
unsigned servo_count;
char *dev = PWM_OUTPUT0_DEVICE_PATH;
int fd = open(dev, 0);
int fd = px4_open(dev, 0);
if (fd < 0) {err(1, "can't open %s", dev);}
if (fd < 0) {PX4_WARN("can't open %s", dev);}
ret = ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
@@ -301,9 +301,9 @@ Standard::set_max_mc(unsigned pwm_value)
pwm_values.channel_count = _params->vtol_motor_count;
}
ret = ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {errx(ret, "failed setting max values");}
if (ret != OK) {PX4_WARN("failed setting max values");}
close(fd);
px4_close(fd);
}