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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-28 08:14:13 +0200 |
commit | 5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe (patch) | |
tree | 5f024477d370d92edacead7412f60f6757cbf082 /src/modules/px4iofirmware/controls.c | |
parent | e44d134c6c64535f67e26f9633206aba50a10613 (diff) | |
parent | 66c61fbe96e11ee7099431a8370d84f862543810 (diff) | |
download | px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.gz px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.tar.bz2 px4-firmware-5fe3c49ba0e7e3f64f5b6c9b64ced675c01b14fe.zip |
Merged multirotor branch
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
-rw-r--r-- | src/modules/px4iofirmware/controls.c | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index fbd82a4c6..796c6cd9f 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -59,14 +59,14 @@ static perf_counter_t c_gather_ppm; void controls_init(void) { - /* DSM input */ + /* DSM input (USART1) */ dsm_init("/dev/ttyS0"); - /* S.bus input */ + /* S.bus input (USART3) */ sbus_init("/dev/ttyS2"); /* default to a 1:1 input map, all enabled */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0; @@ -124,7 +124,7 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; perf_end(c_gather_ppm); - ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); + ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS); /* * In some cases we may have received a frame, but input has still @@ -197,7 +197,7 @@ controls_tick() { /* and update the scaled/mapped version */ unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]; - ASSERT(mapped < MAX_CONTROL_CHANNELS); + ASSERT(mapped < PX4IO_CONTROL_CHANNELS); /* invert channel if pitch - pulling the lever down means pitching up by convention */ if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */ @@ -209,7 +209,7 @@ controls_tick() { } /* set un-assigned controls to zero */ - for (unsigned i = 0; i < MAX_CONTROL_CHANNELS; i++) { + for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) { if (!(assigned_channels & (1 << i))) r_rc_values[i] = 0; } @@ -321,8 +321,8 @@ ppm_input(uint16_t *values, uint16_t *num_values) /* PPM data exists, copy it */ *num_values = ppm_decoded_channels; - if (*num_values > MAX_CONTROL_CHANNELS) - *num_values = MAX_CONTROL_CHANNELS; + if (*num_values > PX4IO_CONTROL_CHANNELS) + *num_values = PX4IO_CONTROL_CHANNELS; for (unsigned i = 0; i < *num_values; i++) values[i] = ppm_buffer[i]; |