Mirrors_Framework/PX4-Autopilot
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working on better status reporting, removed unneeded fake PWM generation from FMU

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This commit is contained in:
Lorenz Meier
2013-02-24 20:24:21 +01:00
parent bde6204b33
commit 35369471db
2 changed files with 23 additions and 39 deletions
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apps/drivers/px4io/px4io.cpp
+23 -9
View File
@@ -96,6 +96,8 @@ public:
virtual int ioctl(file *filp, int cmd, unsigned long arg);
virtual ssize_t write(file *filp, const char *buffer, size_t len);
void print_status();
private:
// XXX
unsigned _max_actuators;
@@ -459,7 +461,7 @@ PX4IO::init()
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
/* publish RC config to IO */
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {
log("failed to update RC input config");
@@ -1141,18 +1143,28 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
} while (buflen > 0);
debug("mixer upload OK");
/* check for the mixer-OK flag */
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)
if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
debug("mixer upload OK");
return 0;
debug("mixer rejected by IO");
} else {
debug("mixer rejected by IO");
}
/* load must have failed for some reason */
return -EINVAL;
}
void
PX4IO::print_status()
{
printf("\tRC status:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_OK) ? "OK" : "LOST");
if (_status & PX4IO_P_STATUS_FLAGS_RC_OK) {
printf("\tRC type:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? "S.BUS" : ((_status & PX4IO_P_STATUS_FLAGS_RC_DSM) ? "DSM" : "PPM"));
// printf("\tRC chans:\t%d\n", xxx);
}
}
int
PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
{
@@ -1294,7 +1306,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
}
default:
/* not a recognised value */
/* not a recognized value */
ret = -ENOTTY;
}
@@ -1458,10 +1470,12 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (g_dev != nullptr)
if (g_dev != nullptr) {
printf("[px4io] loaded\n");
else
g_dev->print_status();
} else {
printf("[px4io] not loaded\n");
}
exit(0);
}
apps/sensors/sensors.cpp
-30
View File
@@ -1074,36 +1074,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
void
Sensors::ppm_poll()
{
/* fake low-level driver, directly pulling from driver variables */
static orb_advert_t rc_input_pub = -1;
struct rc_input_values raw;
raw.timestamp = ppm_last_valid_decode;
/* we are accepting this message */
_ppm_last_valid = ppm_last_valid_decode;
/*
* relying on two decoded channels is very noise-prone,
* in particular if nothing is connected to the pins.
* requiring a minimum of four channels
*/
if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
for (unsigned i = 0; i < ppm_decoded_channels; i++) {
raw.values[i] = ppm_buffer[i];
}
raw.channel_count = ppm_decoded_channels;
/* publish to object request broker */
if (rc_input_pub <= 0) {
rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
} else {
orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
}
}
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
bool rc_updated;