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| author | Andrew Tridgell <tridge@samba.org> | 2013-09-12 15:49:04 +1000 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-12 09:24:53 +0200 |
| commit | e9e46f9c9dc1301b4218903b26dbcd58fb096895 (patch) | |
| tree | 83f20adee0697a254ad23014e49bcd82eba971a1 /src/modules/px4iofirmware/registers.c | |
| parent | f12794d30eb04d682c1977911752461e5c8a6eb8 (diff) | |
| download | px4-firmware-e9e46f9c9dc1301b4218903b26dbcd58fb096895.tar.gz px4-firmware-e9e46f9c9dc1301b4218903b26dbcd58fb096895.tar.bz2 px4-firmware-e9e46f9c9dc1301b4218903b26dbcd58fb096895.zip | |
px4io: added monitoring of vservo and vrssi
publish via servorail_status ORB topic
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 30 |
1 files changed, 14 insertions, 16 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9c95fd1c5..30ef0ccea 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -678,27 +678,25 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val #ifdef ADC_VSERVO /* PX4IO_P_STATUS_VSERVO */ { - /* - * Coefficients here derived by measurement of the 5-16V - * range on one unit: - * - * XXX pending measurements - * - * slope = xxx - * intercept = xxx - * - * Intercept corrected for best results @ 5.0V. - */ unsigned counts = adc_measure(ADC_VSERVO); if (counts != 0xffff) { - unsigned mV = (4150 + (counts * 46)) / 10 - 200; - unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VSERVO_SCALE]) / 10000; - - r_page_status[PX4IO_P_STATUS_VSERVO] = corrected; + // use 3:1 scaling on 3.3V ADC input + unsigned mV = counts * 9900 / 4096; + r_page_status[PX4IO_P_STATUS_VSERVO] = mV; + } + } +#endif +#ifdef ADC_RSSI + /* PX4IO_P_STATUS_VRSSI */ + { + unsigned counts = adc_measure(ADC_RSSI); + if (counts != 0xffff) { + // use 1:1 scaling on 3.3V ADC input + unsigned mV = counts * 3300 / 4096; + r_page_status[PX4IO_P_STATUS_VRSSI] = mV; } } #endif - /* XXX PX4IO_P_STATUS_VRSSI */ /* XXX PX4IO_P_STATUS_PRSSI */ SELECT_PAGE(r_page_status); |