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Merge branch 'beta' into stable

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This commit is contained in:
Lorenz Meier
2015-08-08 23:50:35 +02:00
parent bd2551d5f7 e07e4743c5
commit b2ff9e37c4
2 changed files with 38 additions and 10 deletions
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src/drivers/px4io/px4io.cpp
+27 -10
View File
@@ -1116,25 +1116,42 @@ PX4IO::task_main()
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
float trim_val;
param_t trim_parm;
param_t parm_handle;
trim_parm = param_find("TRIM_ROLL");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_ROLL");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_PITCH");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_PITCH");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_YAW");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_YAW");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
}
/* S.BUS output */
int sbus_mode;
parm_handle = param_find("PWM_SBUS_MODE");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &sbus_mode);
if (sbus_mode == 1) {
/* enable S.BUS 1 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (sbus_mode == 2) {
/* enable S.BUS 2 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
}
}
src/drivers/px4io/px4io_params.c
+11
View File
@@ -129,3 +129,14 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);
/**
* Enable S.BUS out
*
* Set to 1 to enable S.BUS version 1 output instead of RSSI.
*
* @min 0
* @max 1
* @group PWM Outputs
*/
PARAM_DEFINE_INT32(PWM_SBUS_MODE, 0);