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fmu: wait until running, and handle mode_rcin properly

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when the fmu was already running in a pwm mode, changing to mode_rcin would
not have any effect.
This commit is contained in:
Beat Küng
2017-07-14 11:57:11 +02:00
parent 3b64be44f4
commit f25549169c
1 changed files with 14 additions and 1 deletions
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src/drivers/px4fmu/fmu.cpp
+14 -1
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@@ -119,6 +119,7 @@ enum PortMode {
PORT_FULL_GPIO,
PORT_FULL_SERIAL,
PORT_FULL_PWM,
PORT_RC_IN,
PORT_GPIO_AND_SERIAL,
PORT_PWM_AND_SERIAL,
PORT_PWM_AND_GPIO,
@@ -1027,6 +1028,12 @@ PX4FMU::task_spawn(int argc, char *argv[])
}
}
// wait until task is up & running (the mode_* commands depend on it)
if (wait_until_running() < 0) {
_task_id = -1;
return -1;
}
return PX4_OK;
}
@@ -2972,6 +2979,10 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
#endif
break;
case PORT_RC_IN:
servo_mode = PX4FMU::MODE_NONE;
break;
case PORT_PWM1:
/* select 2-pin PWM mode */
servo_mode = PX4FMU::MODE_1PWM;
@@ -3421,7 +3432,7 @@ int PX4FMU::custom_command(int argc, char *argv[])
new_mode = PORT_FULL_GPIO;
} else if (!strcmp(verb, "mode_rcin")) {
return 0;
new_mode = PORT_RC_IN;
} else if (!strcmp(verb, "mode_pwm")) {
new_mode = PORT_FULL_PWM;
@@ -3612,6 +3623,8 @@ int PX4FMU::print_status()
case MODE_6CAP: mode_str = "cap6"; break;
case MODE_NONE: mode_str = "no pwm"; break;
default:
break;
}