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Cleaned up HIL on FMU / IO combo

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Lorenz Meier
2012-12-19 11:34:51 +01:00
parent f41e5728fc
commit bc3b66043f
5 changed files with 21 additions and 26 deletions
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apps/drivers/hil/hil.cpp
-1
View File
@@ -382,7 +382,6 @@ HIL::task_main()
/* this would be bad... */
if (ret < 0) {
log("poll error %d", errno);
usleep(1000000);
continue;
}
apps/drivers/px4io/px4io.cpp
+3 -4
View File
@@ -410,7 +410,6 @@ PX4IO::task_main()
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &_controls_effective);
/* convert to PWM values */
for (unsigned i = 0; i < _max_actuators; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
@@ -426,6 +425,9 @@ PX4IO::task_main()
}
}
/* publish actuator outputs */
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs);
/* and flag for update */
_send_needed = true;
}
@@ -570,9 +572,6 @@ PX4IO::io_send()
for (unsigned i = 0; i < _max_actuators; i++)
cmd.servo_command[i] = _outputs.output[i];
/* publish as we send */
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &_outputs);
// XXX relays
/* armed and not locked down -> arming ok */