diff options
| author | px4dev <px4@purgatory.org> | 2012-12-29 17:15:48 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-12-29 17:15:48 -0800 |
| commit | 85375c2201e6b9fe4737cb85b462c0aef8d271ca (patch) | |
| tree | 775072bbc976a8a995a0993cda257c6ccaceb171 /apps/px4io | |
| parent | b8250de1e67f63f9ca3b990e016744584a328922 (diff) | |
| download | px4-firmware-85375c2201e6b9fe4737cb85b462c0aef8d271ca.tar.gz px4-firmware-85375c2201e6b9fe4737cb85b462c0aef8d271ca.tar.bz2 px4-firmware-85375c2201e6b9fe4737cb85b462c0aef8d271ca.zip | |
Rename the FMU->IO output controls to reflect the fact that they are controls, not servo values.
Diffstat (limited to 'apps/px4io')
| -rw-r--r-- | apps/px4io/comms.c | 4 | ||||
| -rw-r--r-- | apps/px4io/mixer.cpp | 3 | ||||
| -rw-r--r-- | apps/px4io/protocol.h | 4 | ||||
| -rw-r--r-- | apps/px4io/px4io.h | 2 |
4 files changed, 6 insertions, 7 deletions
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index b815eda3c..b87f21dba 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -171,8 +171,8 @@ comms_handle_command(const void *buffer, size_t length) irqstate_t flags = irqsave(); /* fetch new PWM output values */ - for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) - system_state.fmu_channel_data[i] = cmd->servo_command[i]; + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) + system_state.fmu_channel_data[i] = cmd->output_control[i]; /* if the IO is armed and the FMU gets disarmed, the IO must also disarm */ if (system_state.arm_ok && !cmd->arm_ok) { diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 0fd4ac717..52666ae39 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -85,7 +85,7 @@ mixer_tick(void) */ if (system_state.mixer_use_fmu) { /* we have recent control data from the FMU */ - control_count = PX4IO_OUTPUT_CHANNELS; + control_count = PX4IO_CONTROL_CHANNELS; control_values = &system_state.fmu_channel_data[0]; /* check that we are receiving fresh data from the FMU */ @@ -170,7 +170,6 @@ mixer_callback(uintptr_t handle, return -1; /* scale from current PWM units (1000-2000) to mixer input values */ - /* XXX this presents some ugly problems w.r.t failsafe and R/C input scaling that have to be addressed */ control = ((float)control_values[control_index] - 1500.0f) / 500.0f; return 0; diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 979f2f8cb..18d49a6be 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -41,7 +41,7 @@ #pragma once -#define PX4IO_OUTPUT_CHANNELS 8 +#define PX4IO_CONTROL_CHANNELS 8 #define PX4IO_INPUT_CHANNELS 12 #define PX4IO_RELAY_CHANNELS 4 @@ -54,7 +54,7 @@ struct px4io_command { uint16_t f2i_magic; #define F2I_MAGIC 0x636d - uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; + uint16_t output_control[PX4IO_CONTROL_CHANNELS]; bool relay_state[PX4IO_RELAY_CHANNELS]; bool arm_ok; }; diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index ad10961b4..7257d6522 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -81,7 +81,7 @@ struct sys_state_s { /* * Control signals from FMU. */ - uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS]; + uint16_t fmu_channel_data[PX4IO_CONTROL_CHANNELS]; /* * Mixed servo outputs |