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| author | Julian Oes <julian@oes.ch> | 2013-10-19 10:43:41 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-10-19 10:43:41 +0200 |
| commit | 1d3f25ee6c9983ec5da9de4d4f7b463f880f3a87 (patch) | |
| tree | d9a0588a5c45d4c849c0a901a67f6779f02c39ca /src/modules/px4iofirmware/registers.c | |
| parent | 5d36971689566e2142a16643a77337f2e3613c35 (diff) | |
| download | px4-firmware-1d3f25ee6c9983ec5da9de4d4f7b463f880f3a87.tar.gz px4-firmware-1d3f25ee6c9983ec5da9de4d4f7b463f880f3a87.tar.bz2 px4-firmware-1d3f25ee6c9983ec5da9de4d4f7b463f880f3a87.zip | |
pwm systemcmd can now set the failsafe values, fmu uses failsafe values as well now, fix to only send the appropriate number of pwm values to IO at once
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a338afe16..6a0532bee 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -199,7 +199,7 @@ uint16_t r_page_rc_input_config[PX4IO_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRI * * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; +uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }; /** * PAGE 106 @@ -276,8 +276,15 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* copy channel data */ while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) { - /* XXX range-check value? */ - r_page_servo_failsafe[offset] = *values; + if (*values == 0) { + /* ignore 0 */ + } else if (*values < PWM_MIN) { + r_page_servo_failsafe[offset] = PWM_MIN; + } else if (*values > PWM_MAX) { + r_page_servo_failsafe[offset] = PWM_MAX; + } else { + r_page_servo_failsafe[offset] = *values; + } /* flag the failsafe values as custom */ r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM; |