diff options
| -rw-r--r-- | makefiles/config_px4fmu-v2_default.mk | 5 | ||||
| -rw-r--r-- | src/drivers/mkblctrl/mkblctrl.cpp | 38 |
2 files changed, 4 insertions, 39 deletions
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk index 73dc8bd9d..4add744d0 100644 --- a/makefiles/config_px4fmu-v2_default.mk +++ b/makefiles/config_px4fmu-v2_default.mk @@ -21,7 +21,6 @@ MODULES += drivers/boards/px4fmuv2 MODULES += drivers/rgbled MODULES += drivers/lsm303d MODULES += drivers/l3gd20 -#MODULES += drivers/mpu6000 MODULES += drivers/hmc5883 MODULES += drivers/ms5611 MODULES += drivers/mb12xx @@ -30,6 +29,10 @@ MODULES += drivers/hil MODULES += drivers/hott/hott_telemetry MODULES += drivers/hott/hott_sensors MODULES += drivers/blinkm +MODULES += drivers/mkblctrl +MODULES += drivers/airspeed +MODULES += drivers/ets_airspeed +MODULES += drivers/meas_airspeed MODULES += modules/sensors # diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp index e78d96569..1f4a63cf3 100644 --- a/src/drivers/mkblctrl/mkblctrl.cpp +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -1345,44 +1345,6 @@ mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, gpio_bits = 0; servo_mode = MK::MODE_NONE; - switch (new_mode) { - case PORT_FULL_GPIO: - case PORT_MODE_UNSET: - /* nothing more to do here */ - break; - - case PORT_FULL_SERIAL: - /* set all multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_FULL_PWM: - /* select 4-pin PWM mode */ - servo_mode = MK::MODE_4PWM; - break; - - case PORT_GPIO_AND_SERIAL: - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_SERIAL: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - /* set RX/TX multi-GPIOs to serial mode */ - gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; - break; - - case PORT_PWM_AND_GPIO: - /* select 2-pin PWM mode */ - servo_mode = MK::MODE_2PWM; - break; - } - - /* adjust GPIO config for serial mode(s) */ - if (gpio_bits != 0) - g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits); - /* native PX4 addressing) */ g_mk->set_px4mode(px4mode); |