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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:02:22 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:02:22 +0200 |
commit | 9a0b2b7610d39f88b627046e0d90f66aada1e88f (patch) | |
tree | 7f1590055a77aa581a54f29e9dae4c358c13dbd8 /src/drivers/px4io | |
parent | 9123ebce8cbc618899ece31d31c97e022038beb2 (diff) | |
download | px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.tar.gz px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.tar.bz2 px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.zip |
Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found).
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8eee1cbca..f6125d273 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -944,8 +944,23 @@ PX4IO::task_main() int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1); if (pret != OK) { - log("voltage scaling upload failed"); + log("vscale upload failed"); } + + /* send RC throttle failsafe value to IO */ + float failsafe_param_val; + param_t failsafe_param = param_find("RC_FS_THR"); + + if (failsafe_param > 0) + + param_get(failsafe_param, &failsafe_param_val); + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed"); + } + } + } } |