From a545f7ee166ca9318e441e6ef578ba20f68d062f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 20 Sep 2019 17:49:20 +0200
Subject: [PATCH] mixer_module: extend printf status output

---
 src/lib/mixer_module/mixer_module.cpp | 10 +++++++++-
 src/lib/mixer_module/mixer_module.hpp |  2 +-
 2 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index f1cdc824fa..5e631820ce 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -79,10 +79,18 @@ MixingOutput::~MixingOutput()
 	px4_sem_destroy(&_lock);
 }
 
-void MixingOutput::printStatus()
+void MixingOutput::printStatus() const
 {
 	perf_print_counter(_control_latency_perf);
 	PX4_INFO("Switched to rate_ctrl work queue: %i", (int)_wq_switched);
+	PX4_INFO("Mixer loaded: %s", _mixers ? "yes" : "no");
+
+	PX4_INFO("Channel Configuration:");
+
+	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
+		PX4_INFO("Channel %i: failsafe: %d, disarmed: %d, min: %d, max: %d", i, _failsafe_value[i], _disarmed_value[i],
+			 _min_value[i], _max_value[i]);
+	}
 }
 
 void MixingOutput::updateParams()
diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp
index 6c7eafc956..3e32c0276a 100644
--- a/src/lib/mixer_module/mixer_module.hpp
+++ b/src/lib/mixer_module/mixer_module.hpp
@@ -100,7 +100,7 @@ public:
 
 	~MixingOutput();
 
-	void printStatus();
+	void printStatus() const;
 
 	/**
 	 * Call this regularly from Run(). It will call interface.updateOutputs().