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| author | px4dev <px4@purgatory.org> | 2012-11-03 01:13:17 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-11-03 01:14:25 -0700 |
| commit | 487597b3859ee6bee9b0efda1069d15afb7bb29d (patch) | |
| tree | 847af32c4a510fd2fd61a59e1648774d9aa1a8e0 /apps/px4io/px4io.c | |
| parent | b0da90b6db256af7757da610ae7358722a7ecf77 (diff) | |
| download | px4-firmware-487597b3859ee6bee9b0efda1069d15afb7bb29d.tar.gz px4-firmware-487597b3859ee6bee9b0efda1069d15afb7bb29d.tar.bz2 px4-firmware-487597b3859ee6bee9b0efda1069d15afb7bb29d.zip | |
Checkpoint; messages from FMU now make it to IO intact; fix HRT init timing, process more bytes from the serial port, add some simple packet counting.
Diffstat (limited to 'apps/px4io/px4io.c')
| -rw-r--r-- | apps/px4io/px4io.c | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c index 33c28fc6c..90057c790 100644 --- a/apps/px4io/px4io.c +++ b/apps/px4io/px4io.c @@ -71,6 +71,9 @@ int user_start(int argc, char *argv[]) bool heartbeat = false; bool failsafe = false; + /* configure the high-resolution time/callout interface */ + hrt_init(); + /* configure the PWM outputs */ up_pwm_servo_init(0xff); @@ -131,12 +134,13 @@ int user_start(int argc, char *argv[]) /* print some simple status */ if (timers[TIMER_STATUS_PRINT] == 0) { timers[TIMER_STATUS_PRINT] = 1000; - lib_lowprintf("%c %s | %s | %s | C=%d \r", + lib_lowprintf("%c %s | %s | %s | C=%d F=%d B=%d \r", cursor[cycle++ & 3], (system_state.armed ? "ARMED" : "SAFE"), (system_state.rc_channels ? "RC OK" : "NO RC"), (system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"), - system_state.rc_channels + system_state.rc_channels, + frame_rx, frame_bad ); } } |