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Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found).

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Lorenz Meier
2014-04-05 11:02:22 +02:00
parent 9123ebce8c
commit 9a0b2b7610
5 changed files with 33 additions and 16 deletions
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src/drivers/px4io/px4io.cpp
+16 -1
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@@ -944,8 +944,23 @@ PX4IO::task_main()
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
if (pret != OK) {
log("voltage scaling upload failed");
log("vscale upload failed");
}
/* send RC throttle failsafe value to IO */
float failsafe_param_val;
param_t failsafe_param = param_find("RC_FS_THR");
if (failsafe_param > 0)
param_get(failsafe_param, &failsafe_param_val);
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed");
}
}
}
}