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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 21:56:07 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-03-12 21:56:07 +0100 |
| commit | b9e8690c6166d9326d17e6f62dbd6fb62d327ed9 (patch) | |
| tree | 969322d98b85980f1ff88138c089bb524b0ca6df | |
| parent | 82e2619f1f9e9f17fa07873078c28106e5eb6b64 (diff) | |
| parent | 5d4797b85827a7912db335a00f3e94ca659d4ceb (diff) | |
| download | px4-firmware-b9e8690c6166d9326d17e6f62dbd6fb62d327ed9.tar.gz px4-firmware-b9e8690c6166d9326d17e6f62dbd6fb62d327ed9.tar.bz2 px4-firmware-b9e8690c6166d9326d17e6f62dbd6fb62d327ed9.zip | |
Merge pull request #703 from PX4/act_group_hotfix
Actuator group hotfix
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 2 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/px4io.h | 2 |
3 files changed, 8 insertions, 6 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 7c7b3dcb7..8e990aa6f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1921,12 +1921,14 @@ PX4IO::print_status() io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE)); #endif printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); - printf("controls"); + for (unsigned group = 0; group < 4; group++) { + printf("controls %u:", group); - for (unsigned i = 0; i < _max_controls; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i)); + for (unsigned i = 0; i < _max_controls; i++) + printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i)); - printf("\n"); + printf("\n"); + } for (unsigned i = 0; i < _max_rc_input; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 6a4429461..9558198f3 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -267,7 +267,7 @@ mixer_callback(uintptr_t handle, uint8_t control_index, float &control) { - if (control_group > 3) + if (control_group >= PX4IO_CONTROL_GROUPS) return -1; switch (source) { diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index bb224f388..54c5663a5 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -53,7 +53,7 @@ */ #define PX4IO_SERVO_COUNT 8 #define PX4IO_CONTROL_CHANNELS 8 -#define PX4IO_CONTROL_GROUPS 2 +#define PX4IO_CONTROL_GROUPS 4 #define PX4IO_RC_INPUT_CHANNELS 18 #define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */ |