From 9911a55393db81bf91ecf161905ff6e6778e944a Mon Sep 17 00:00:00 2001 From: Mohamed Abdelkader Zahana Date: Sun, 23 Apr 2017 22:30:04 +0300 Subject: [PATCH] use i2c for lidar lite --- ROMFS/px4fmu_common/init.d/rcS | 8 +------- src/modules/sensors/sensor_params.c | 2 +- 2 files changed, 2 insertions(+), 8 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 1b7e3641fa..f8df4fbfc4 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -471,12 +471,6 @@ then fi # Sensors on the PWM interface bank - if param compare SENS_EN_LL40LS 1 - then - # clear pins 5 and 6 - set FMU_MODE pwm4 - set AUX_MODE pwm4 - fi if param greater TRIG_MODE 0 then # We ONLY support trigger on pins 5 and 6 when simultanously using AUX for actuator output @@ -740,7 +734,7 @@ then then if pwm_input start then - if ll40ls start pwm + if ll40ls start i2c then fi fi diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index 6ea6d03ffb..f2c18bff16 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -3230,7 +3230,7 @@ PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000); PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000); /** - * Lidar-Lite (LL40LS) PWM + * Lidar-Lite (LL40LS) I2C * * @reboot_required true *