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| author | px4dev <px4@purgatory.org> | 2013-03-10 23:06:36 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-03-12 22:22:49 -0700 |
| commit | 57429fd12cc4277c88948c1819b245d9e83523d2 (patch) | |
| tree | fc036f102ba82aa654cf5b87c5fbe4cead7859e8 /apps/px4io/registers.c | |
| parent | 6cf0758b24de1e0e28e1bb65fa33a0b49b1601b9 (diff) | |
| download | px4-firmware-57429fd12cc4277c88948c1819b245d9e83523d2.tar.gz px4-firmware-57429fd12cc4277c88948c1819b245d9e83523d2.tar.bz2 px4-firmware-57429fd12cc4277c88948c1819b245d9e83523d2.zip | |
Convert HIL and FMU drivers to the new multirate PWM interface.
Diffstat (limited to 'apps/px4io/registers.c')
| -rw-r--r-- | apps/px4io/registers.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index b09937300..6c09def9e 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -616,19 +616,19 @@ pwm_configure_rates(uint16_t map, uint16_t defaultrate, uint16_t altrate) if (mask == 0) continue; - /* all channels in the group must be either high or low-rate */ - uint32_t high = map & mask; + /* all channels in the group must be either default or alt-rate */ + uint32_t alt = map & mask; if (pass == 0) { /* preflight */ - if ((high != 0) && (high != mask)) { + if ((alt != 0) && (alt != mask)) { /* not a legal map, bail with an alarm */ r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; return; } } else { /* set it - errors here are unexpected */ - if (high != 0) { + if (alt != 0) { if (up_pwm_servo_set_rate_group_update(group, r_setup_pwm_altrate) != OK) r_status_alarms |= PX4IO_P_STATUS_ALARMS_PWM_ERROR; } else { |