pwm info provides more information, some fixes for setting rate/min/max/disarmed

4 files changed, 31 insertions, 34 deletions

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 30aff7d20..350b93488 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -307,9 +307,9 @@ mixer_tick(void)
 			up_pwm_servo_set(i, r_page_servos[i]);
 
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
-		/* set the idle servo outputs. */
+		/* set the disarmed servo outputs. */
 		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
-			up_pwm_servo_set(i, r_page_servo_idle[i]);
+			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
 	}
 }
 
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 0e2cd1689..5e5396782 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -220,8 +220,8 @@ enum {							/* DSM bind states */
 /* PWM maximum values for certain ESCs */
 #define PX4IO_PAGE_CONTROL_MAX_PWM		107	/* 0..CONFIG_ACTUATOR_COUNT-1 */
 
-/* PWM idle values that are active, even when SAFETY_SAFE */
-#define PX4IO_PAGE_IDLE_PWM		108	/* 0..CONFIG_ACTUATOR_COUNT-1 */
+/* PWM disarmed values that are active, even when SAFETY_SAFE */
+#define PX4IO_PAGE_DISARMED_PWM		108	/* 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /**
  * As-needed mixer data upload.
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 66c4ca906..6c9007a75 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -80,7 +80,7 @@ extern uint16_t			r_page_rc_input_config[]; /* PX4IO_PAGE_RC_INPUT_CONFIG */
 extern uint16_t			r_page_servo_failsafe[]; /* PX4IO_PAGE_FAILSAFE_PWM */
 extern uint16_t			r_page_servo_control_min[]; /* PX4IO_PAGE_CONTROL_MIN_PWM */
 extern uint16_t			r_page_servo_control_max[]; /* PX4IO_PAGE_CONTROL_MAX_PWM */
-extern uint16_t			r_page_servo_idle[];	/* PX4IO_PAGE_IDLE_PWM */
+extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 
 /*
  * Register aliases.
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 8cb21e54f..9d3c5ccfd 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -220,10 +220,10 @@ uint16_t		r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100
 /**
  * PAGE 108
  *
- * idle PWM values for difficult ESCs
+ * disarmed PWM values for difficult ESCs
  *
  */
-uint16_t		r_page_servo_idle[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
+uint16_t		r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 };
 
 int
 registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values)
@@ -293,16 +293,15 @@ 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)) {
 
-			if (*values == 0)
-				/* set to default */
-				r_page_servo_control_min[offset] = 900;
-
-			else if (*values > 1200)
+			if (*values == 0) {
+				/* ignore 0 */
+			} else if (*values > 1200) {
 				r_page_servo_control_min[offset] = 1200;
-			else if (*values < 900)
+			} else if (*values < 900) {
 				r_page_servo_control_min[offset] = 900;
-			else
+			} else {
 				r_page_servo_control_min[offset] = *values;
+			}
 
 			offset++;
 			num_values--;
@@ -315,16 +314,15 @@ 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)) {
 
-			if (*values == 0)
-				/* set to default */
-				r_page_servo_control_max[offset] = 2100;
-
-			else if (*values > 2100)
+			if (*values == 0) {
+				/* ignore 0 */
+			} else if (*values > 2100) {
 				r_page_servo_control_max[offset] = 2100;
-			else if (*values < 1800)
+			} else if (*values < 1800) {
 				r_page_servo_control_max[offset] = 1800;
-			else
+			} else {
 				r_page_servo_control_max[offset] = *values;
+			}
 
 			offset++;
 			num_values--;
@@ -332,21 +330,20 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 		}
 		break;
 
-	case PX4IO_PAGE_IDLE_PWM:
+	case PX4IO_PAGE_DISARMED_PWM:
 
 		/* copy channel data */
 		while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
 
-			if (*values == 0)
-				/* set to default */
-				r_page_servo_idle[offset] = 0;
-
-			else if (*values < 900)
-				r_page_servo_idle[offset] = 900;
-			else if (*values > 2100)
-				r_page_servo_idle[offset] = 2100;
-			else
-				r_page_servo_idle[offset] = *values;
+			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 {
+				r_page_servo_disarmed[offset] = *values;
+			}
 
 			/* flag the failsafe values as custom */
 			r_setup_arming |= PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE;
@@ -769,8 +766,8 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val
 	case PX4IO_PAGE_CONTROL_MAX_PWM:
 		SELECT_PAGE(r_page_servo_control_max);
 		break;
-	case PX4IO_PAGE_IDLE_PWM:
-		SELECT_PAGE(r_page_servo_idle);
+	case PX4IO_PAGE_DISARMED_PWM:
+		SELECT_PAGE(r_page_servo_disarmed);
 		break;
 
 	default: