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| author | Julian Oes <julian@oes.ch> | 2013-10-11 16:59:21 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-11 16:59:21 +0200 |
| commit | 5d36971689566e2142a16643a77337f2e3613c35 (patch) | |
| tree | 76311a3060368e2d802bf71138bc5e59db55294e /src/drivers/px4fmu | |
| parent | 3cbe1ee1a8308e2efc017374a6d297761c6c5226 (diff) | |
| download | px4-firmware-5d36971689566e2142a16643a77337f2e3613c35.tar.gz px4-firmware-5d36971689566e2142a16643a77337f2e3613c35.tar.bz2 px4-firmware-5d36971689566e2142a16643a77337f2e3613c35.zip | |
Base max actuators on board revision
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 8e9e8103f..e729612cc 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -101,7 +101,12 @@ public: int set_pwm_alt_channels(uint32_t channels); private: +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + static const unsigned _max_actuators = 4; +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) static const unsigned _max_actuators = 6; +#endif Mode _mode; unsigned _pwm_default_rate; @@ -214,10 +219,13 @@ PX4FMU::PX4FMU() : _pwm_on(false), _mixers(nullptr), _disarmed_pwm({0}), - _min_pwm({PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN}), - _max_pwm({PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX}), _num_disarmed_set(0) { + for (unsigned i = 0; i < _max_actuators; i++) { + _min_pwm[i] = PWM_MIN; + _max_pwm[i] = PWM_MAX; + } + _debug_enabled = true; } |