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IO driver: auto update param

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This commit is contained in:
Lorenz Meier
2015-05-25 16:42:47 +02:00
parent 2dd94b7f0f
commit d54b931554
2 changed files with 14 additions and 9 deletions
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src/drivers/px4io/px4io.cpp
+6 -1
View File
@@ -281,6 +281,7 @@ private:
int _t_actuator_armed; ///< system armed control topic int _t_actuator_armed; ///< system armed control topic
int _t_vehicle_control_mode;///< vehicle control mode topic int _t_vehicle_control_mode;///< vehicle control mode topic
int _t_param; ///< parameter update topic int _t_param; ///< parameter update topic
bool _param_update_force; ///< force a parameter update
int _t_vehicle_command; ///< vehicle command topic int _t_vehicle_command; ///< vehicle command topic
/* advertised topics */ /* advertised topics */
@@ -514,6 +515,7 @@ PX4IO::PX4IO(device::Device *interface) :
_t_actuator_armed(-1), _t_actuator_armed(-1),
_t_vehicle_control_mode(-1), _t_vehicle_control_mode(-1),
_t_param(-1), _t_param(-1),
_param_update_force(false),
_t_vehicle_command(-1), _t_vehicle_command(-1),
_to_input_rc(0), _to_input_rc(0),
_to_outputs(0), _to_outputs(0),
@@ -917,6 +919,8 @@ PX4IO::task_main()
fds[0].fd = _t_actuator_controls_0; fds[0].fd = _t_actuator_controls_0;
fds[0].events = POLLIN; fds[0].events = POLLIN;
_param_update_force = true;
/* lock against the ioctl handler */ /* lock against the ioctl handler */
lock(); lock();
@@ -1017,7 +1021,8 @@ PX4IO::task_main()
*/ */
orb_check(_t_param, &updated); orb_check(_t_param, &updated);
if (updated) { if (updated || _param_update_force) {
_param_update_force = false;
parameter_update_s pupdate; parameter_update_s pupdate;
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate); orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
src/drivers/px4io/px4io_params.c
+8 -8
View File
@@ -51,7 +51,7 @@
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV1, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV1, 0);
/** /**
* Pre-scaler / Inverter for main output channel 2 * Pre-scaler / Inverter for main output channel 2
@@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV1, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV2, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV2, 0);
/** /**
* Pre-scaler / Inverter for main output channel 3 * Pre-scaler / Inverter for main output channel 3
@@ -73,7 +73,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV2, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV3, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV3, 0);
/** /**
* Pre-scaler / Inverter for main output channel 4 * Pre-scaler / Inverter for main output channel 4
@@ -84,7 +84,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV3, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV4, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV4, 0);
/** /**
* Pre-scaler / Inverter for main output channel 5 * Pre-scaler / Inverter for main output channel 5
@@ -95,7 +95,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV4, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV5, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV5, 0);
/** /**
* Pre-scaler / Inverter for main output channel 6 * Pre-scaler / Inverter for main output channel 6
@@ -106,7 +106,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV5, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV6, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV6, 0);
/** /**
* Pre-scaler / Inverter for main output channel 7 * Pre-scaler / Inverter for main output channel 7
@@ -117,7 +117,7 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV6, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV7, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV7, 0);
/** /**
* Pre-scaler / Inverter for main output channel 8 * Pre-scaler / Inverter for main output channel 8
@@ -128,4 +128,4 @@ PARAM_DEFINE_INT32(PWM_MAIN_REV7, 1);
* @max 1 * @max 1
* @group PWM Outputs * @group PWM Outputs
*/ */
PARAM_DEFINE_INT32(PWM_MAIN_REV8, 1); PARAM_DEFINE_INT32(PWM_MAIN_REV8, 0);