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Enable UART6 and enable S.BUS. Tested to work.

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This commit is contained in:
Lorenz Meier
2015-11-28 09:13:15 +01:00
parent 193cf888f5
commit a3eeafebeb
7 changed files with 27 additions and 15 deletions
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src/drivers/px4fmu/fmu.cpp
+14 -11
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@@ -327,12 +327,9 @@ PX4FMU::PX4FMU() :
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
#endif
#ifdef SBUS_SERIAL_PORT
_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
#endif
#ifdef DSM_SERIAL_PORT
_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#ifdef GPIO_SBUS_INV
// this board has a GPIO to control SBUS inversion
stm32_configgpio(GPIO_SBUS_INV);
#endif
/* only enable this during development */
@@ -648,6 +645,15 @@ PX4FMU::cycle()
update_pwm_rev_mask();
#ifdef SBUS_SERIAL_PORT
_sbus_fd = sbus_init(SBUS_SERIAL_PORT, true);
#endif
#ifdef DSM_SERIAL_PORT
// XXX rather than opening it we need to cycle between protocols until one is locked in
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
_initialized = true;
}
@@ -839,14 +845,11 @@ PX4FMU::cycle()
}
#endif
#ifdef DSM_SERIAL_PORT
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if (ppm_last_valid_decode != _rc_in.timestamp_last_signal) {
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = ppm_decoded_channels;