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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-27 21:33:19 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-27 21:33:19 +0100 |
| commit | 965a7a4f0313ccfe67e6c0f84d76ff3350602fb0 (patch) | |
| tree | 139156533f10b4a33819a2d0db4acb795083301d /src | |
| parent | a9ea39054dbd6eb62fb3185465848a485c32a046 (diff) | |
| download | px4-firmware-965a7a4f0313ccfe67e6c0f84d76ff3350602fb0.tar.gz px4-firmware-965a7a4f0313ccfe67e6c0f84d76ff3350602fb0.tar.bz2 px4-firmware-965a7a4f0313ccfe67e6c0f84d76ff3350602fb0.zip | |
Allow to disable a channel
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 2 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
2 files changed, 7 insertions, 3 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 22d707233..cac7bf608 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1098,7 +1098,7 @@ PX4IO::io_set_rc_config() /* fill the mapping with an error condition triggering value */ for (unsigned i = 0; i < _max_rc_input; i++) - input_map[i] = UINT16_MAX; + input_map[i] = UINT8_MAX; /* * NOTE: The indices for mapped channels are 1-based diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index b0922f4d6..0358725db 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -584,6 +584,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /* this option is normally set last */ if (value & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) { uint8_t count = 0; + bool disabled = false; /* assert min..center..max ordering */ if (conf[PX4IO_P_RC_CONFIG_MIN] < 500) { @@ -602,7 +603,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { + + if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] == UINT8_MAX) { + disabled = true; + } else if ((int)(conf[PX4IO_P_RC_CONFIG_ASSIGNMENT]) < 0 || conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= PX4IO_RC_MAPPED_CONTROL_CHANNELS) { count++; } @@ -610,7 +614,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (count) { isr_debug(0, "ERROR: %d config error(s) for RC%d.\n", count, (channel + 1)); r_status_flags &= ~PX4IO_P_STATUS_FLAGS_INIT_OK; - } else { + } else if (!disabled) { conf[index] |= PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; } } |