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| author | Julian Oes <julian@oes.ch> | 2013-10-07 18:03:05 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-07 18:03:05 +0200 |
| commit | 19879432ad6cf709af25192401829719defd2983 (patch) | |
| tree | 567bda3cb54df9c177ac1d2e47ece0c30ba03bce /src/modules/px4iofirmware/registers.c | |
| parent | 03edf901617c5f5785ef7d78d8fa74e2bfdd45fc (diff) | |
| download | px4-firmware-19879432ad6cf709af25192401829719defd2983.tar.gz px4-firmware-19879432ad6cf709af25192401829719defd2983.tar.bz2 px4-firmware-19879432ad6cf709af25192401829719defd2983.zip | |
Trying to get rid of magic PWM numbers
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 30 |
1 files changed, 15 insertions, 15 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9d3c5ccfd..30e6f7de2 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; * minimum PWM values when armed * */ -uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN }; /** * PAGE 107 @@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 90 * maximum PWM values when armed * */ -uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; +uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX }; /** * PAGE 108 @@ -223,7 +223,7 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100 * disarmed PWM values for difficult ESCs * */ -uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }; int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) @@ -295,10 +295,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values > 1200) { - r_page_servo_control_min[offset] = 1200; - } else if (*values < 900) { - r_page_servo_control_min[offset] = 900; + } else if (*values > PWM_HIGHEST_MIN) { + r_page_servo_control_min[offset] = PWM_HIGHEST_MIN; + } else if (*values < PWM_MIN) { + r_page_servo_control_min[offset] = PWM_MIN; } else { r_page_servo_control_min[offset] = *values; } @@ -316,10 +316,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values > 2100) { - r_page_servo_control_max[offset] = 2100; - } else if (*values < 1800) { - r_page_servo_control_max[offset] = 1800; + } else if (*values > PWM_MAX) { + r_page_servo_control_max[offset] = PWM_MAX; + } else if (*values < PWM_LOWEST_MAX) { + r_page_servo_control_max[offset] = PWM_LOWEST_MAX; } else { r_page_servo_control_max[offset] = *values; } @@ -337,10 +337,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values < 900) { - r_page_servo_disarmed[offset] = 900; - } else if (*values > 2100) { - r_page_servo_disarmed[offset] = 2100; + } else if (*values < PWM_MIN) { + r_page_servo_disarmed[offset] = PWM_MIN; + } else if (*values > PWM_MAX) { + r_page_servo_disarmed[offset] = PWM_MAX; } else { r_page_servo_disarmed[offset] = *values; } |