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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-22 20:44:51 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-22 20:44:51 +0100 |
| commit | 6c990d0a6e6d0888fc8c2cbf9eba1b84637c8d4d (patch) | |
| tree | 25b01ed350f67ee3e9f84196cacf16d935cff7b2 | |
| parent | 999051546a9dec7cc4eeef8ddc7c37f6c8e68b00 (diff) | |
| download | px4-firmware-6c990d0a6e6d0888fc8c2cbf9eba1b84637c8d4d.tar.gz px4-firmware-6c990d0a6e6d0888fc8c2cbf9eba1b84637c8d4d.tar.bz2 px4-firmware-6c990d0a6e6d0888fc8c2cbf9eba1b84637c8d4d.zip | |
Fix usage of wrong constant for RC input channels
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 75e6d4dea..f630b6f2a 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -66,7 +66,7 @@ controls_init(void) sbus_init("/dev/ttyS2"); /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; @@ -113,7 +113,7 @@ controls_tick() { perf_end(c_gather_dsm); perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */); + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS); if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; } @@ -210,14 +210,16 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < PX4IO_CONTROL_CHANNELS); + if (mapped < PX4IO_CONTROL_CHANNELS) { - /* invert channel if pitch - pulling the lever down means pitching up by convention */ - if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ - scaled = -scaled; + /* invert channel if pitch - pulling the lever down means pitching up by convention */ + if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ + scaled = -scaled; + + r_rc_values[mapped] = SIGNED_TO_REG(scaled); + assigned_channels |= (1 << mapped); - r_rc_values[mapped] = SIGNED_TO_REG(scaled); - assigned_channels |= (1 << mapped); + } } } @@ -334,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > PX4IO_CONTROL_CHANNELS) - *num_values = PX4IO_CONTROL_CHANNELS; + if (*num_values > PX4IO_RC_INPUT_CHANNELS) + *num_values = PX4IO_RC_INPUT_CHANNELS; for (unsigned i = 0; i < *num_values; i++) values[i] = ppm_buffer[i]; |