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| author | px4dev <px4@purgatory.org> | 2013-08-02 22:34:55 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-08-02 22:34:55 -0700 |
| commit | 9d6ec6b3655fcd902be7a7fe4f2a24033c714afb (patch) | |
| tree | 6093f77bca4fce924d3cce0e4ed065344a063f82 /src/drivers/px4fmu/fmu.cpp | |
| parent | a9c1882ea01aa0cf00448bc874c97087853bb13c (diff) | |
| download | px4-firmware-9d6ec6b3655fcd902be7a7fe4f2a24033c714afb.tar.gz px4-firmware-9d6ec6b3655fcd902be7a7fe4f2a24033c714afb.tar.bz2 px4-firmware-9d6ec6b3655fcd902be7a7fe4f2a24033c714afb.zip | |
Restructure things so that the PX4 configs move out of the NuttX tree, and most of the PX4-specific board configuration data moves out of the config and into the board driver.
Rename some directories that got left behind in the great board renaming.
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 16 |
1 files changed, 4 insertions, 12 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b73f71572..a6f337486 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -59,15 +59,7 @@ #include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) -# include <drivers/boards/px4fmu/px4fmu_internal.h> -# define FMU_HAVE_PPM -#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) -# include <drivers/boards/px4fmuv2/px4fmu_internal.h> -# undef FMU_HAVE_PPM -#else -# error Unrecognised FMU board. -#endif +# include <board_config.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -80,7 +72,7 @@ #include <uORB/topics/actuator_outputs.h> #include <systemlib/err.h> -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL # include <systemlib/ppm_decode.h> #endif @@ -455,7 +447,7 @@ PX4FMU::task_main() fds[1].fd = _t_armed; fds[1].events = POLLIN; -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL // rc input, published to ORB struct rc_input_values rc_in; orb_advert_t to_input_rc = 0; @@ -585,7 +577,7 @@ PX4FMU::task_main() } } -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL // see if we have new PPM input data if (ppm_last_valid_decode != rc_in.timestamp) { // we have a new PPM frame. Publish it. |