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| author | Julian Oes <julian@oes.ch> | 2013-10-31 10:29:06 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-31 10:29:06 +0100 |
| commit | 25bf1abecffeb0b4c29386ef6a019b7a60c23899 (patch) | |
| tree | 95d06500d28c056464c2ce922f41760e902e4a95 /src/drivers/px4fmu/fmu.cpp | |
| parent | 88351f3da178be1c73dad47557d894943e484e34 (diff) | |
| download | px4-firmware-25bf1abecffeb0b4c29386ef6a019b7a60c23899.tar.gz px4-firmware-25bf1abecffeb0b4c29386ef6a019b7a60c23899.tar.bz2 px4-firmware-25bf1abecffeb0b4c29386ef6a019b7a60c23899.zip | |
pwm_output: Allow PWM values from 900us to 2100us but use a default of 1000us to 2000us
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 4bd27f907..0441566e9 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -232,8 +232,8 @@ PX4FMU::PX4FMU() : _num_disarmed_set(0) { for (unsigned i = 0; i < _max_actuators; i++) { - _min_pwm[i] = PWM_MIN; - _max_pwm[i] = PWM_MAX; + _min_pwm[i] = PWM_DEFAULT_MIN; + _max_pwm[i] = PWM_DEFAULT_MAX; } _debug_enabled = true; @@ -762,10 +762,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) for (unsigned i = 0; i < pwm->channel_count; i++) { if (pwm->values[i] == 0) { /* ignore 0 */ - } else if (pwm->values[i] > PWM_MAX) { - _failsafe_pwm[i] = PWM_MAX; - } else if (pwm->values[i] < PWM_MIN) { - _failsafe_pwm[i] = PWM_MIN; + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _failsafe_pwm[i] = PWM_HIGHEST_MAX; + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _failsafe_pwm[i] = PWM_LOWEST_MIN; } else { _failsafe_pwm[i] = pwm->values[i]; } @@ -801,10 +801,10 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) for (unsigned i = 0; i < pwm->channel_count; i++) { if (pwm->values[i] == 0) { /* ignore 0 */ - } else if (pwm->values[i] > PWM_MAX) { - _disarmed_pwm[i] = PWM_MAX; - } else if (pwm->values[i] < PWM_MIN) { - _disarmed_pwm[i] = PWM_MIN; + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _disarmed_pwm[i] = PWM_HIGHEST_MAX; + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _disarmed_pwm[i] = PWM_LOWEST_MIN; } else { _disarmed_pwm[i] = pwm->values[i]; } @@ -842,8 +842,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) /* ignore 0 */ } else if (pwm->values[i] > PWM_HIGHEST_MIN) { _min_pwm[i] = PWM_HIGHEST_MIN; - } else if (pwm->values[i] < PWM_MIN) { - _min_pwm[i] = PWM_MIN; + } else if (pwm->values[i] < PWM_LOWEST_MIN) { + _min_pwm[i] = PWM_LOWEST_MIN; } else { _min_pwm[i] = pwm->values[i]; } @@ -872,8 +872,8 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) /* ignore 0 */ } else if (pwm->values[i] < PWM_LOWEST_MAX) { _max_pwm[i] = PWM_LOWEST_MAX; - } else if (pwm->values[i] > PWM_MAX) { - _max_pwm[i] = PWM_MAX; + } else if (pwm->values[i] > PWM_HIGHEST_MAX) { + _max_pwm[i] = PWM_HIGHEST_MAX; } else { _max_pwm[i] = pwm->values[i]; } |