Symbol cleanup for servo vs. battery voltage

src/drivers/px4io/px4io.cpp

@@ -1315,7 +1315,7 @@ PX4IO::print_status()
 	io_reg_set(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS, 0xFFFF);
 
 	if (_hardware == 1) {
-		printf("vbatt %u ibatt %u vbatt scale %u\n",
+		printf("vbatt mV %u ibatt mV %u vbatt scale %u\n",
 		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT),
 		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
 		       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
@@ -1324,9 +1324,9 @@ PX4IO::print_status()
 		       (double)_battery_amp_bias,
 		       (double)_battery_mamphour_total);
 	} else if (_hardware == 2) {
-		printf("vservo %u vservo scale %u\n",
+		printf("vservo %u mV vservo scale %u\n",
 		       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VSERVO),
-		       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
+		       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VSERVO_SCALE));
 		printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
 	}
 	printf("actuators");

src/modules/px4iofirmware/protocol.h

@@ -163,13 +163,13 @@
 #define PX4IO_P_SETUP_PWM_ALTRATE		4	/* 'high' PWM frame output rate in Hz */
 
 #define PX4IO_P_SETUP_RELAYS			5	/* bitmask of relay/switch outputs, 0 = off, 1 = on */
-#define PX4IO_P_SETUP_RELAYS_POWER1		(1<<0)	/* [1] power relay 1 */
+#define PX4IO_P_SETUP_RELAYS_POWER1		(1<<0)	/* hardware rev [1] power relay 1 */
-#define PX4IO_P_SETUP_RELAYS_POWER2		(1<<1)	/* [1] power relay 2 */
+#define PX4IO_P_SETUP_RELAYS_POWER2		(1<<1)	/* hardware rev [1] power relay 2 */
-#define PX4IO_P_SETUP_RELAYS_ACC1		(1<<2)	/* [1] accessory power 1 */
+#define PX4IO_P_SETUP_RELAYS_ACC1		(1<<2)	/* hardware rev [1] accessory power 1 */
-#define PX4IO_P_SETUP_RELAYS_ACC2		(1<<3)	/* [1] accessory power 2 */
+#define PX4IO_P_SETUP_RELAYS_ACC2		(1<<3)	/* hardware rev [1] accessory power 2 */
 
-#define PX4IO_P_SETUP_VBATT_SCALE		6	/* [1] battery voltage correction factor (float) */
+#define PX4IO_P_SETUP_VBATT_SCALE		6	/* hardware rev [1] battery voltage correction factor (float) */
-#define PX4IO_P_SETUP_VSERVO_SCALE		6	/* [2] servo voltage correction factor (float) */
+#define PX4IO_P_SETUP_VSERVO_SCALE		6	/* hardware rev [2] servo voltage correction factor (float) */
 #define PX4IO_P_SETUP_DSM			7	/* DSM bind state */
 enum {							/* DSM bind states */
 	dsm_bind_power_down = 0,

src/modules/px4iofirmware/registers.c

@@ -146,7 +146,11 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_PWM_DEFAULTRATE]		= 50,
 	[PX4IO_P_SETUP_PWM_ALTRATE]		= 200,
 	[PX4IO_P_SETUP_RELAYS]			= 0,
+#ifdef ADC_VSERVO
+	[PX4IO_P_SETUP_VSERVO_SCALE]		= 10000,
+#else
 	[PX4IO_P_SETUP_VBATT_SCALE]		= 10000,
+#endif
 	[PX4IO_P_SETUP_SET_DEBUG]		= 0,
 };
 
@@ -570,29 +574,17 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 			 * Coefficients here derived by measurement of the 5-16V
 			 * range on one unit:
 			 *
-			 * V   counts
+			 * XXX pending measurements
-			 *  5  1001
-			 *  6  1219
-			 *  7  1436
-			 *  8  1653
-			 *  9  1870
-			 * 10  2086
-			 * 11  2303
-			 * 12  2522
-			 * 13  2738
-			 * 14  2956
-			 * 15  3172
-			 * 16  3389
 			 *
-			 * slope = 0.0046067
+			 * slope = xxx
-			 * intercept = 0.3863
+			 * intercept = xxx
 			 *
-			 * Intercept corrected for best results @ 12V.
+			 * Intercept corrected for best results @ 5.0V.
 			 */
 			unsigned counts = adc_measure(ADC_VSERVO);
 			if (counts != 0xffff) {
 				unsigned mV = (4150 + (counts * 46)) / 10 - 200;
-				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000;
+				unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000;
 
 				r_page_status[PX4IO_P_STATUS_VSERVO] = corrected;
 			}