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FMU driver: Add S.BUS and DSM FDs, not active yet

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This commit is contained in:
Lorenz Meier
2015-11-25 10:15:59 +01:00
parent 10a3954232
commit c2c6f3c958
1 changed files with 12 additions and 0 deletions
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src/drivers/px4fmu/fmu.cpp
+12
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@@ -141,6 +141,8 @@ private:
orb_advert_t _outputs_pub;
unsigned _num_outputs;
int _class_instance;
int _sbus_fd;
int _dsm_fd;
volatile bool _initialized;
bool _servo_armed;
@@ -285,6 +287,8 @@ PX4FMU::PX4FMU() :
_outputs_pub(nullptr),
_num_outputs(0),
_class_instance(0),
_sbus_fd(-1),
_dsm_fd(-1),
_initialized(false),
_servo_armed(false),
_pwm_on(false),
@@ -318,6 +322,14 @@ 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);
#endif
/* only enable this during development */
_debug_enabled = false;
}