working on better status reporting, removed unneeded fake PWM generation from FMU

2 files changed, 23 insertions, 39 deletions

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index adb894371..a06a2575e 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -96,6 +96,8 @@ public:
 	virtual int		ioctl(file *filp, int cmd, unsigned long arg);
 	virtual ssize_t		write(file *filp, const char *buffer, size_t len);
 
+	void			print_status();
+
 private:
 	// XXX
 	unsigned		_max_actuators;
@@ -459,7 +461,7 @@ PX4IO::init()
 			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
 			PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
 
-			/* publish RC config to IO */
+		/* publish RC config to IO */
 		ret = io_set_rc_config();
 		if (ret != OK) {
 			log("failed to update RC input config");
@@ -1141,18 +1143,28 @@ PX4IO::mixer_send(const char *buf, unsigned buflen)
 
 	} while (buflen > 0);
 
-	debug("mixer upload OK");
-
 	/* check for the mixer-OK flag */
-	if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK)
+	if (io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_MIXER_OK) {
+		debug("mixer upload OK");
 		return 0;
-
-	debug("mixer rejected by IO");
+	} else {
+		debug("mixer rejected by IO");
+	}
 
 	/* load must have failed for some reason */
 	return -EINVAL;
 }
 
+void
+PX4IO::print_status()
+{
+	printf("\tRC status:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_OK) ? "OK" : "LOST");
+	if (_status & PX4IO_P_STATUS_FLAGS_RC_OK) {
+		printf("\tRC type:\t%s\n", (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? "S.BUS" : ((_status & PX4IO_P_STATUS_FLAGS_RC_DSM) ? "DSM" : "PPM"));
+		// printf("\tRC chans:\t%d\n", xxx);
+	}
+}
+
 int
 PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 {
@@ -1294,7 +1306,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 	}
 
 	default:
-		/* not a recognised value */
+		/* not a recognized value */
 		ret = -ENOTTY;
 	}
 
@@ -1458,10 +1470,12 @@ px4io_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "status")) {
 
-			if (g_dev != nullptr)
+			if (g_dev != nullptr) {
 				printf("[px4io] loaded\n");
-			else
+				g_dev->print_status();
+			} else {
 				printf("[px4io] not loaded\n");
+			}
 
 			exit(0);
 		}
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index d8d200ea9..edff8828f 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1074,36 +1074,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
 void
 Sensors::ppm_poll()
 {
-	/* fake low-level driver, directly pulling from driver variables */
-	static orb_advert_t rc_input_pub = -1;
-	struct rc_input_values raw;
-
-	raw.timestamp = ppm_last_valid_decode;
-	/* we are accepting this message */
-	_ppm_last_valid = ppm_last_valid_decode;
-
-	/*
-	 * relying on two decoded channels is very noise-prone,
-	 * in particular if nothing is connected to the pins.
-	 * requiring a minimum of four channels
-	 */
-	if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
-
-		for (unsigned i = 0; i < ppm_decoded_channels; i++) {
-			raw.values[i] = ppm_buffer[i];
-		}
-
-		raw.channel_count = ppm_decoded_channels;
-
-		/* publish to object request broker */
-		if (rc_input_pub <= 0) {
-			rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
-
-		} else {
-			orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
-		}
-	}
-
 
 	/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
 	bool rc_updated;