diff options
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 5601230a4..e24236de7 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1784,7 +1784,7 @@ PX4IO::print_status() io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); uint16_t io_status_flags = flags; - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), @@ -1843,6 +1843,12 @@ PX4IO::print_status() printf("\n"); uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); printf("%d raw R/C inputs", raw_inputs); + + for (unsigned i = 0; i < raw_inputs; i++) + printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); + + printf("\n"); + flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS); printf("status 0x%04x%s%s%s%s", flags, (((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""), @@ -1851,11 +1857,6 @@ PX4IO::print_status() ((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : "") ); - for (unsigned i = 0; i < raw_inputs; i++) - printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); - - printf("\n"); - if ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) { int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA); printf("RC data (PPM frame len) %u us\n", frame_len); @@ -1884,7 +1885,7 @@ PX4IO::print_status() /* setup and state */ uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES); - printf("features 0x%04x%s%s\n", features, + printf("features 0x%04x%s%s%s%s\n", features, ((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""), ((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""), ((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""), |