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| author | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-06 23:59:35 -0700 |
| commit | 8fa226c909d5d34606e8f28bb0b54aeda8f91010 (patch) | |
| tree | 58549c9596aa5568057f8844a111c4e596ee77f7 /src/modules/px4iofirmware/mixer.cpp | |
| parent | a65a1237f05c885245237e9ffecd79dee9de4dbc (diff) | |
| download | px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.tar.gz px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.tar.bz2 px4-firmware-8fa226c909d5d34606e8f28bb0b54aeda8f91010.zip | |
Tweak protocol register assignments and add new registers to accommodate differences in IOv2.
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index a2193b526..d8c0e58ba 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -154,7 +154,7 @@ mixer_tick(void) if (source == MIX_FAILSAFE) { /* copy failsafe values to the servo outputs */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) { + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ @@ -164,11 +164,11 @@ mixer_tick(void) } else if (source != MIX_NONE) { - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -180,7 +180,7 @@ mixer_tick(void) r_page_servos[i] = (outputs[i] * 600.0f) + 1500; } - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; } @@ -215,7 +215,7 @@ mixer_tick(void) if (mixer_servos_armed) { /* update the servo outputs. */ - for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) up_pwm_servo_set(i, r_page_servos[i]); } } @@ -349,11 +349,11 @@ mixer_set_failsafe() return; /* set failsafe defaults to the values for all inputs = 0 */ - float outputs[IO_SERVO_COUNT]; + float outputs[PX4IO_SERVO_COUNT]; unsigned mixed; /* mix */ - mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT); /* scale to PWM and update the servo outputs as required */ for (unsigned i = 0; i < mixed; i++) { @@ -364,7 +364,7 @@ mixer_set_failsafe() } /* disable the rest of the outputs */ - for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servo_failsafe[i] = 0; } |