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Allow to disable a channel

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Lorenz Meier
2013-12-27 21:33:19 +01:00
parent a9ea39054d
commit 965a7a4f03
2 changed files with 7 additions and 3 deletions
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src/drivers/px4io/px4io.cpp
+1 -1
View File
@@ -1098,7 +1098,7 @@ PX4IO::io_set_rc_config()
/* fill the mapping with an error condition triggering value */
for (unsigned i = 0; i < _max_rc_input; i++)
input_map[i] = UINT16_MAX;
input_map[i] = UINT8_MAX;
/*
* NOTE: The indices for mapped channels are 1-based
src/modules/px4iofirmware/registers.c
+6 -2
View File
@@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/* this option is normally set last */
if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint8_t count = 0;
bool disabled = false;
/* assert min..center..max ordering */
if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) {
@@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) {
count++;
}
if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) {
disabled = true;
} else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) {
count++;
}
@@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
if (count) {
isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1));
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK;
} else {
} else if (!disabled) {
conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;
}
}