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Merged release into master

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Lorenz Meier
2015-06-13 11:06:01 +02:00
parent 2fc069bd63 a0176474c7
commit c9fefe236b
47 changed files with 1036 additions and 344 deletions
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src/drivers/px4io/px4io.cpp
+30 -2
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@@ -1114,6 +1114,27 @@ 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;
trim_parm = param_find("TRIM_ROLL");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &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);
(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);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
}
}
}
@@ -1240,7 +1261,7 @@ PX4IO::io_set_arming_state()
uint16_t set = 0;
uint16_t clear = 0;
if (have_armed == OK) {
if (have_armed == OK) {
_in_esc_calibration_mode = armed.in_esc_calibration_mode;
if (armed.armed || _in_esc_calibration_mode) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
@@ -2127,7 +2148,14 @@ PX4IO::print_status(bool extended_status)
for (unsigned i = 0; i < _max_actuators; i++) {
printf("%s", (pwm_invert_mask & (1 << i)) ? "x" : "_");
}
printf("]\n");
printf("]");
float trim_roll = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL));
float trim_pitch = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH));
float trim_yaw = REG_TO_FLOAT(io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW));
printf(" trims: r: %8.4f p: %8.4f y: %8.4f\n",
(double)trim_roll, (double)trim_pitch, (double)trim_yaw);
uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT);
printf("%d raw R/C inputs", raw_inputs);