Merge pull request #354 from jean-m-cyr/master

Support initiating DSM bind via QGroundControl

3 files changed, 3 insertions, 14 deletions

diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index ab6e3fec4..b2c0db425 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -125,9 +125,9 @@ dsm_bind(uint16_t cmd, int pulses)
 	case dsm_bind_send_pulses:
 		for (int i = 0; i < pulses; i++) {
 			stm32_gpiowrite(usart1RxAsOutp, false);
-			up_udelay(50);
+			up_udelay(25);
 			stm32_gpiowrite(usart1RxAsOutp, true);
-			up_udelay(50);
+			up_udelay(25);
 		}
 		break;
 	case dsm_bind_reinit_uart:
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 133cda8d6..bd431c9eb 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -156,6 +156,7 @@ PARAM_DEFINE_FLOAT(RC14_DZ, 0.0f);
 
 PARAM_DEFINE_INT32(RC_TYPE, 1); /** 1 = FUTABA, 2 = Spektrum, 3 = Graupner HoTT, 4 = Turnigy 9x */
 PARAM_DEFINE_INT32(RC_RL1_DSM_VCC, 0); /* Relay 1 controls DSM VCC */
+PARAM_DEFINE_INT32(RC_DSM_BIND, 0); /* 0 = Idle, 1 = Start DSM2 bind, 2 = Start DSMX bind */
 
 /* default is conversion factor for the PX4IO / PX4IOAR board, the factor for PX4FMU standalone is different */
 PARAM_DEFINE_FLOAT(BAT_V_SCALING, (3.3f * 52.0f / 5.0f / 4095.0f));
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index f7b41b120..42268b971 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -257,8 +257,6 @@ private:
 
 		float battery_voltage_scaling;
 
-		int   rc_rl1_DSM_VCC_control;
-
 	}		_parameters;			/**< local copies of interesting parameters */
 
 	struct {
@@ -308,8 +306,6 @@ private:
 
 		param_t battery_voltage_scaling;
 
-		param_t rc_rl1_DSM_VCC_control;
-
 	}		_parameter_handles;		/**< handles for interesting parameters */
 
 
@@ -544,9 +540,6 @@ Sensors::Sensors() :
 
 	_parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING");
 
-	/* DSM VCC relay control */
-	_parameter_handles.rc_rl1_DSM_VCC_control = param_find("RC_RL1_DSM_VCC");
-
 	/* fetch initial parameter values */
 	parameters_update();
 }
@@ -738,11 +731,6 @@ Sensors::parameters_update()
 		warnx("Failed updating voltage scaling param");
 	}
 
-	/* relay 1 DSM VCC control */
-	if (param_get(_parameter_handles.rc_rl1_DSM_VCC_control, &(_parameters.rc_rl1_DSM_VCC_control)) != OK) {
-		warnx("Failed updating relay 1 DSM VCC control");
-	}
-
 	return OK;
 }