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fmu:Add MODE_4PWM1CAP, MODE_5PWM, MODE_5PWM1CAP

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This extends the  Capture support for FMU
   CHAN 5 and 6.
This commit is contained in:
David Sidrane
2018-09-25 14:38:38 -07:00
committed by Daniel Agar
parent 4876bb2582
commit 928e0140ee
1 changed files with 8 additions and 4 deletions
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src/drivers/px4fmu/fmu.cpp
+8 -4
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@@ -2486,12 +2486,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
servo_mode = PX4FMU::MODE_5PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM5CAP1:
/* select 5-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_5PWM1CAP;
break;
# endif
case PORT_PWM4:
@@ -2499,12 +2501,14 @@ PX4FMU::fmu_new_mode(PortMode new_mode)
servo_mode = PX4FMU::MODE_4PWM;
break;
# if defined(BOARD_HAS_CAPTURE)
case PORT_PWM4CAP1:
/* select 4-pin PWM mode 1 capture */
servo_mode = PX4FMU::MODE_4PWM1CAP;
break;
# endif
case PORT_PWM3:
@@ -3067,13 +3071,13 @@ int PX4FMU::print_status()
case MODE_4PWM: mode_str = "pwm4"; break;
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_4PWM1CAP: mode_str = "pwm4cap1"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM: mode_str = "pwm5"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
case MODE_5PWM1CAP: mode_str = "pwm5cap1"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_6PWM: mode_str = "pwm6"; break;
case MODE_8PWM: mode_str = "pwm8"; break;