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| author | px4dev <px4@purgatory.org> | 2012-11-04 16:44:36 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-11-04 16:44:36 -0800 |
| commit | 7fbad5adea0a022d71d8c5c4453cda1244e154b3 (patch) | |
| tree | 463d00314bf83283deb0fa7f0a42238aa071d5db /apps/px4io/px4io.c | |
| parent | 06e17eae5d6942e3d2c96f3e313707723b217b18 (diff) | |
| download | px4-firmware-7fbad5adea0a022d71d8c5c4453cda1244e154b3.tar.gz px4-firmware-7fbad5adea0a022d71d8c5c4453cda1244e154b3.tar.bz2 px4-firmware-7fbad5adea0a022d71d8c5c4453cda1244e154b3.zip | |
Fix PWM channel zero output; pin configuration was being overwritten by USART2 setup.
Diffstat (limited to 'apps/px4io/px4io.c')
| -rw-r--r-- | apps/px4io/px4io.c | 13 |
1 files changed, 6 insertions, 7 deletions
diff --git a/apps/px4io/px4io.c b/apps/px4io/px4io.c index 90057c790..dc8e227fc 100644 --- a/apps/px4io/px4io.c +++ b/apps/px4io/px4io.c @@ -59,8 +59,6 @@ int gpio_fd; static const char cursor[] = {'|', '/', '-', '\\'}; -static const char *rc_input_mq_name = "rc_input"; - static struct hrt_call timer_tick_call; volatile int timers[TIMER_NUM_TIMERS]; static void timer_tick(void *arg); @@ -74,7 +72,11 @@ int user_start(int argc, char *argv[]) /* configure the high-resolution time/callout interface */ hrt_init(); - /* configure the PWM outputs */ + /* init the FMU link */ + comms_init(); + + /* configure the first 8 PWM outputs (i.e. all of them) */ + /* note, must do this after comms init to steal back PA0, which is CTS otherwise */ up_pwm_servo_init(0xff); /* print some startup info */ @@ -94,14 +96,11 @@ int user_start(int argc, char *argv[]) POWER_SERVO(true); /* start the mixer */ - mixer_init(rc_input_mq_name); + mixer_init(); /* start the safety switch handler */ safety_init(); - /* init the FMU link */ - comms_init(); - /* set up some timers for the main loop */ timers[TIMER_BLINK_AMBER] = 250; /* heartbeat blink @ 2Hz */ timers[TIMER_STATUS_PRINT] = 1000; /* print status message @ 1Hz */ |