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fmu: removed obsolete _trim_pwm member and implemented proper fetching

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of mixer trim values

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-02-23 15:28:22 +01:00
committed by Lorenz Meier
parent 04a89f7e9b
commit ea8db53d15
1 changed files with 1 additions and 7 deletions
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src/drivers/px4fmu/fmu.cpp
+1 -7
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@@ -265,7 +265,6 @@ private:
uint16_t _disarmed_pwm[_max_actuators]; uint16_t _disarmed_pwm[_max_actuators];
uint16_t _min_pwm[_max_actuators]; uint16_t _min_pwm[_max_actuators];
uint16_t _max_pwm[_max_actuators]; uint16_t _max_pwm[_max_actuators];
uint16_t _trim_pwm[_max_actuators];
uint16_t _reverse_pwm_mask; uint16_t _reverse_pwm_mask;
unsigned _num_failsafe_set; unsigned _num_failsafe_set;
unsigned _num_disarmed_set; unsigned _num_disarmed_set;
@@ -391,7 +390,6 @@ PX4FMU::PX4FMU(bool run_as_task) :
for (unsigned i = 0; i < _max_actuators; i++) { for (unsigned i = 0; i < _max_actuators; i++) {
_min_pwm[i] = PWM_DEFAULT_MIN; _min_pwm[i] = PWM_DEFAULT_MIN;
_max_pwm[i] = PWM_DEFAULT_MAX; _max_pwm[i] = PWM_DEFAULT_MAX;
_trim_pwm[i] = PWM_DEFAULT_TRIM;
} }
_control_topics[0] = ORB_ID(actuator_controls_0); _control_topics[0] = ORB_ID(actuator_controls_0);
@@ -2157,12 +2155,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_GET_TRIM_PWM: { case PWM_SERVO_GET_TRIM_PWM: {
struct pwm_output_values *pwm = (struct pwm_output_values *)arg; struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
for (unsigned i = 0; i < _max_actuators; i++) { pwm->channel_count = _mixers->get_trims((int16_t *)pwm->values);
pwm->values[i] = _trim_pwm[i];
}
pwm->channel_count = _max_actuators;
arg = (unsigned long)&pwm;
break; break;
} }