fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-04 10:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

FMU driver: Support pwm reversal, prepare config parameters

Browse Source
This commit is contained in:
Lorenz Meier
2015-05-25 16:42:46 +02:00
parent 613b50b14f
commit e4a5ceb429
3 changed files with 114 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+3 -1
View File
@@ -157,6 +157,7 @@ private:
uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators];
uint16_t _max_pwm[_max_actuators];
uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
@@ -269,6 +270,7 @@ PX4FMU::PX4FMU() :
_pwm_limit{},
_failsafe_pwm{0},
_disarmed_pwm{0},
_reverse_pwm_mask(0),
_num_failsafe_set(0),
_num_disarmed_set(0)
{
@@ -684,7 +686,7 @@ PX4FMU::task_main()
uint16_t pwm_limited[num_outputs];
/* the PWM limit call takes care of out of band errors and constrains */
pwm_limit_calc(_servo_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
pwm_limit_calc(_servo_armed, num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output to the servos */
for (unsigned i = 0; i < num_outputs; i++) {