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author | Simon Wilks <sjwilks@gmail.com> | 2013-01-05 22:13:12 +0100 |
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committer | Simon Wilks <sjwilks@gmail.com> | 2013-01-05 22:13:12 +0100 |
commit | 0a89ab7075e4d637c91e21246c4790599f046aec (patch) | |
tree | b21cc275b31a2b85892f5869c9426c15488b7886 /apps/drivers/px4io | |
parent | 1b81724ef7d9c1424b493740d887e6c3ce259f38 (diff) | |
download | px4-firmware-0a89ab7075e4d637c91e21246c4790599f046aec.tar.gz px4-firmware-0a89ab7075e4d637c91e21246c4790599f046aec.tar.bz2 px4-firmware-0a89ab7075e4d637c91e21246c4790599f046aec.zip |
Send rc channel ordering and channel attributes from FMU to IO
Diffstat (limited to 'apps/drivers/px4io')
-rw-r--r-- | apps/drivers/px4io/px4io.cpp | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index f24beaf53..07c65d8cd 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -72,6 +72,7 @@ #include <systemlib/err.h> #include <systemlib/systemlib.h> #include <systemlib/scheduling_priorities.h> +#include <systemlib/param/param.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> @@ -608,6 +609,35 @@ PX4IO::io_send() /* set desired PWM output rate */ cmd.servo_rate = _update_rate; + /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ + cmd.rc_map[0] = param_find("RC_MAP_ROLL"); + cmd.rc_map[1] = param_find("RC_MAP_PITCH"); + cmd.rc_map[2] = param_find("RC_MAP_YAW"); + cmd.rc_map[3] = param_find("RC_MAP_THROTTLE"); + + /* set the individual channel properties */ + char nbuf[16]; + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MIN", i); + cmd.rc_min[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_TRIM", i); + cmd.rc_trim[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MAX", i); + cmd.rc_max[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_REV", i); + cmd.rc_rev[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_DZ", i); + cmd.rc_dz[i] = (uint16_t)param_find(nbuf); + } + ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); if (ret) |