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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
| commit | 5fbee2394522d8b0c7a78d2751783845d011b56d (patch) | |
| tree | 78f0b0b3148c915876b318847b4015472c89e264 /src/drivers | |
| parent | 2a58929ffde494ba7db0bd09178545d5d650b420 (diff) | |
| download | px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.gz px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.bz2 px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.zip | |
Added flag to disable RC evaluation onboard of IO (raw values still forwarded)
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index cebe33996..afbd4e695 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -206,7 +206,8 @@ private: unsigned _max_relays; ///<Maximum relays supported by PX4IO unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO - unsigned _update_interval; ///<Subscription interval limiting send rate + unsigned _update_interval; ///< Subscription interval limiting send rate + bool _rc_handling_disabled; ///< If set, IO does not evaluate, but only forward the RC values volatile int _task; ///<worker task id volatile bool _task_should_exit; ///<worker terminate flag @@ -393,6 +394,7 @@ PX4IO::PX4IO(device::Device *interface) : _max_relays(0), _max_transfer(16), /* sensible default */ _update_interval(0), + _rc_handling_disabled(false), _task(-1), _task_should_exit(false), _mavlink_fd(-1), @@ -588,12 +590,16 @@ PX4IO::init() PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); - /* publish RC config to IO */ - ret = io_set_rc_config(); - if (ret != OK) { - log("failed to update RC input config"); - mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); - return ret; + if (_rc_handling_disabled) { + ret = io_disable_rc_handling(); + } else { + /* publish RC config to IO */ + ret = io_set_rc_config(); + if (ret != OK) { + log("failed to update RC input config"); + mavlink_log_info(_mavlink_fd, "[IO] RC config upload fail"); + return ret; + } } } @@ -848,6 +854,15 @@ PX4IO::io_set_arming_state() } int +PX4IO::io_disable_rc_handling() +{ + uint16_t set = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED; + uint16_t clear = 0; + + return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set); +} + +int PX4IO::io_set_rc_config() { unsigned offset = 0; @@ -1365,7 +1380,7 @@ PX4IO::print_status() (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), - ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"), |