diff options
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 30 |
1 files changed, 30 insertions, 0 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index f24beaf53..07c65d8cd 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -72,6 +72,7 @@ #include <systemlib/err.h> #include <systemlib/systemlib.h> #include <systemlib/scheduling_priorities.h> +#include <systemlib/param/param.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_controls_effective.h> @@ -608,6 +609,35 @@ PX4IO::io_send() /* set desired PWM output rate */ cmd.servo_rate = _update_rate; + /* maintaing the standard order of Roll, Pitch, Yaw, Throttle */ + cmd.rc_map[0] = param_find("RC_MAP_ROLL"); + cmd.rc_map[1] = param_find("RC_MAP_PITCH"); + cmd.rc_map[2] = param_find("RC_MAP_YAW"); + cmd.rc_map[3] = param_find("RC_MAP_THROTTLE"); + + /* set the individual channel properties */ + char nbuf[16]; + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MIN", i); + cmd.rc_min[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_TRIM", i); + cmd.rc_trim[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_MAX", i); + cmd.rc_max[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_REV", i); + cmd.rc_rev[i] = (uint16_t)param_find(nbuf); + } + for (unsigned i = 0; i < 4; i++) { + sprintf(nbuf, "RC%d_DZ", i); + cmd.rc_dz[i] = (uint16_t)param_find(nbuf); + } + ret = hx_stream_send(_io_stream, &cmd, sizeof(cmd)); if (ret) |