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change main trims to normalized values

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This commit is contained in:
Mark Whitehorn
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent dbc149c224
commit f0b41a0e52
5 changed files with 65 additions and 57 deletions
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src/drivers/px4io/px4io.cpp
+5 -5
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@@ -1207,12 +1207,12 @@ PX4IO::task_main()
// update trim values
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
// memset(&pwm_values, 0, sizeof(pwm_values));
// ret = io_reg_get(PX4IO_PAGE_CONTROL_TRIM_PWM, 0, (uint16_t *)pwm_values.values, _max_actuators);
for (unsigned i = 0; i < _max_actuators; i++) {
char pname[16];
int32_t ival;
float pval;
/* fetch the trim values from parameters */
sprintf(pname, "PWM_MAIN_TRIM%u", i + 1);
@@ -1220,8 +1220,8 @@ PX4IO::task_main()
if (param_h != PARAM_INVALID) {
param_get(param_h, &ival);
pwm_values.values[i] = ival;
param_get(param_h, &pval);
pwm_values.values[i] = (int16_t)(10000 * pval);
}
}