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| author | Andrew Tridgell <andrew@tridgell.net> | 2015-02-23 13:22:30 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-23 19:52:57 +0100 |
| commit | 9a875c53af750e115529b1bb64269d2ded712c46 (patch) | |
| tree | 22d52a8de6f0c2ffe2f6dbbf8cf7d456879cea18 /src/drivers/px4fmu | |
| parent | 41cc04c06485f40c2219b8585d50138cd2e5fe37 (diff) | |
| download | px4-firmware-9a875c53af750e115529b1bb64269d2ded712c46.tar.gz px4-firmware-9a875c53af750e115529b1bb64269d2ded712c46.tar.bz2 px4-firmware-9a875c53af750e115529b1bb64269d2ded712c46.zip | |
px4fmu: added "mode_pwm4" startup mode
this is the default mode ArduPilot uses, and by setting it in the init
script we avoid any pin activity on the two GPIO pins during boot
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 3a9246bf2..8e7e93679 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1529,6 +1529,7 @@ enum PortMode { PORT_GPIO_AND_SERIAL, PORT_PWM_AND_SERIAL, PORT_PWM_AND_GPIO, + PORT_PWM4, }; PortMode g_port_mode; @@ -1564,6 +1565,13 @@ fmu_new_mode(PortMode new_mode) #endif break; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + case PORT_PWM4: + /* select 4-pin PWM mode */ + servo_mode = PX4FMU::MODE_4PWM; + break; +#endif + /* mixed modes supported on v1 board only */ #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) @@ -1836,6 +1844,10 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(verb, "mode_pwm")) { new_mode = PORT_FULL_PWM; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + } else if (!strcmp(verb, "mode_pwm4")) { + new_mode = PORT_PWM4; +#endif #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) } else if (!strcmp(verb, "mode_serial")) { |