diff options
| -rw-r--r-- | apps/ardrone_interface/ardrone_interface.c | 6 | ||||
| -rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 8 |
2 files changed, 7 insertions, 7 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c index c3293d66e..51feac539 100644 --- a/apps/ardrone_interface/ardrone_interface.c +++ b/apps/ardrone_interface/ardrone_interface.c @@ -205,12 +205,12 @@ int ardrone_interface_thread_main(int argc, char *argv[]) printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n"); } - /* initialize multiplexing, deactivate all outputs */ - gpios = ar_multiplexing_init(); - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ ardrone_write = ardrone_open_uart(&uart_config_original); + /* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */ + gpios = ar_multiplexing_init(); + if (ardrone_write < 0) { fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n"); thread_running = false; diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c index d40f0066a..1e4b48c07 100644 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ b/apps/ardrone_interface/ardrone_motor_control.c @@ -118,6 +118,7 @@ int ar_multiplexing_init() return -1; } + /* configure all motor select GPIOs as outputs */ if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { warn("GPIO: output set fail"); close(fd); @@ -174,8 +175,6 @@ int ar_select_motor(int fd, uint8_t motor) ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); } - fsync(fd); - return ret; } @@ -208,6 +207,9 @@ int ar_init_motors(int ardrone_uart, int gpios) uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; + /* deselect all motors */ + ar_deselect_motor(gpios, 0); + /* initialize all motors * - select one motor at a time * - configure motor @@ -215,8 +217,6 @@ int ar_init_motors(int ardrone_uart, int gpios) int i; int errcounter = 0; - gpios = ar_multiplexing_init(); - for (i = 1; i < 5; ++i) { /* Initialize motors 1-4 */ initbuf[3] = (uint8_t)i; |