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Report the control values from the FMU in the status output. Count them separately from the actuators.

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px4dev
2013-02-24 15:31:01 -08:00
parent f35c5d600a
commit dc74eeb421
1 changed files with 12 additions and 5 deletions
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apps/drivers/px4io/px4io.cpp
+12 -5
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@@ -101,6 +101,7 @@ public:
private: private:
// XXX // XXX
unsigned _max_actuators; unsigned _max_actuators;
unsigned _max_controls;
unsigned _max_rc_input; unsigned _max_rc_input;
unsigned _max_relays; unsigned _max_relays;
unsigned _max_transfer; unsigned _max_transfer;
@@ -277,6 +278,7 @@ PX4IO *g_dev;
PX4IO::PX4IO() : PX4IO::PX4IO() :
I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000), I2C("px4io", "/dev/px4io", PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_PX4IO, 320000),
_max_actuators(0), _max_actuators(0),
_max_controls(0),
_max_rc_input(0), _max_rc_input(0),
_max_relays(0), _max_relays(0),
_max_transfer(16), /* sensible default */ _max_transfer(16), /* sensible default */
@@ -342,6 +344,7 @@ PX4IO::init()
/* get some parameters */ /* get some parameters */
_max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT); _max_actuators = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT);
_max_controls = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT);
_max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT); _max_relays = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RELAY_COUNT);
_max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2; _max_transfer = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER) - 2;
_max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT); _max_rc_input = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT);
@@ -637,11 +640,11 @@ PX4IO::io_set_control_state()
orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS :
ORB_ID(actuator_controls_1), _t_actuators, &controls); ORB_ID(actuator_controls_1), _t_actuators, &controls);
for (unsigned i = 0; i < _max_actuators; i++) for (unsigned i = 0; i < _max_controls; i++)
regs[i] = FLOAT_TO_REG(controls.control[i]); regs[i] = FLOAT_TO_REG(controls.control[i]);
/* copy values to registers in IO */ /* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_actuators); return io_reg_set(PX4IO_PAGE_CONTROLS, 0, regs, _max_controls);
} }
int int
@@ -1247,9 +1250,9 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE),
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS)); io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS));
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("failsafe"); printf("controls");
for (unsigned i = 0; i < _max_actuators; i++) for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
printf("\n"); printf("\n");
for (unsigned i = 0; i < _max_rc_input; i++) { for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
@@ -1265,6 +1268,10 @@ PX4IO::print_status()
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""), ((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : "")); ((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
} }
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("\n");
} }
int int