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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-21 01:14:29 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-15 17:39:42 +0100 |
| commit | c94755c847ce122e2da727ce58c3171a11896879 (patch) | |
| tree | da32a3242ca46ed57fd56eec45ce1264aedbc814 | |
| parent | 9935707acdcd47189ae08b9eb8104f1981884d8c (diff) | |
| download | px4-firmware-c94755c847ce122e2da727ce58c3171a11896879.tar.gz px4-firmware-c94755c847ce122e2da727ce58c3171a11896879.tar.bz2 px4-firmware-c94755c847ce122e2da727ce58c3171a11896879.zip | |
PX4IO Firmware: Support 16 output channels
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 6 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 3 |
2 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 66f0969de..835dfc0f5 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -272,8 +272,9 @@ mixer_tick(void) if (mixer_servos_armed && should_arm) { /* update the servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) { up_pwm_servo_set(i, r_page_servos[i]); + } /* set S.BUS1 or S.BUS2 outputs */ @@ -285,8 +286,9 @@ mixer_tick(void) } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) { up_pwm_servo_set(i, r_page_servo_disarmed[i]); + } /* set S.BUS1 or S.BUS2 outputs */ if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 93a33490f..df2633cc5 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -51,7 +51,8 @@ /* * Constants and limits. */ -#define PX4IO_SERVO_COUNT 8 +#define PX4IO_SERVO_COUNT 16 +#define PX4IO_SERVO_HARDWARE_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 #define PX4IO_CONTROL_GROUPS 4 #define PX4IO_RC_INPUT_CHANNELS 18 |