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snapdragon_rc_pwm: cleanup and raise bitrate

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This commit is contained in:
Julian Oes
2016-03-24 11:57:39 +01:00
committed by Lorenz Meier
parent ee7b9751ce
commit 647526407a
1 changed files with 22 additions and 12 deletions
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src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
+22 -12
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@@ -177,6 +177,15 @@ void handle_message(mavlink_message_t *msg)
_actuators.control[3] = actuator_controls.controls[3];
_actuators.timestamp = hrt_absolute_time();
//static unsigned counter = 0;
//if (counter++ % 250 == 0) {
// PX4_INFO("got motor controls %.2f %.2f %.2f %.2f",
// (double)_actuators.control[0],
// (double)_actuators.control[1],
// (double)_actuators.control[2],
// (double)_actuators.control[3]);
//}
// publish actuator controls received from snapdragon
if (_actuator_controls_pub == nullptr) {
_actuator_controls_pub = orb_advertise(ORB_ID(actuator_controls_0), &_actuators);
@@ -243,6 +252,16 @@ void send_rc_mavlink()
int len = ::write(_uart_fd, &buf[0], packet_len);
//static unsigned counter = 0;
//if (counter++ % 100 == 0) {
// PX4_INFO("sent %d %d %d %d %d %d", len,
// rc_message.chan1_raw,
// rc_message.chan2_raw,
// rc_message.chan3_raw,
// rc_message.chan4_raw,
// rc_message.chan5_raw);
//}
if (len < 1) {
PX4_WARN("failed sending rc mavlink message");
}
@@ -260,7 +279,7 @@ int initialise_uart()
}
// set baud rate
int speed = B115200;
int speed = B921600;
struct termios uart_config;
tcgetattr(_uart_fd, &uart_config);
// clear ONLCR flag (which appends a CR for every LF)
@@ -279,17 +298,9 @@ int initialise_uart()
return -1;
}
(void)tcgetattr(_uart_fd, &uart_config);
#ifdef CRTS_IFLOW
uart_config.c_cflag |= CRTS_IFLOW;
#else
uart_config.c_cflag |= CRTSCTS;
#endif
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
/* setup output flow control */
if (enable_flow_control(true)) {
PX4_WARN("hardware flow control not supported");
if (enable_flow_control(false)) {
PX4_WARN("hardware flow disable failed");
}
return _uart_fd;
@@ -320,7 +331,6 @@ int enable_flow_control(bool enabled)
// uart_esc main entrance
void task_main_trampoline(int argc, char *argv[])
{
PX4_WARN("task_main_trampoline");
task_main(argc, argv);
}