diff options
Diffstat (limited to 'src/drivers/hil/hil.cpp')
| -rw-r--r-- | src/drivers/hil/hil.cpp | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index 9b5c8133b..6ffa8252e 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -75,6 +75,8 @@ #include <systemlib/mixer/mixer.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_outputs.h> @@ -250,7 +252,7 @@ HIL::task_main_trampoline(int argc, char *argv[]) int HIL::set_mode(Mode mode) { - /* + /* * Configure for PWM output. * * Note that regardless of the configured mode, the task is always @@ -269,19 +271,19 @@ HIL::set_mode(Mode mode) /* multi-port as 4 PWM outs */ _update_rate = 50; /* default output rate */ break; - + case MODE_8PWM: debug("MODE_8PWM"); /* multi-port as 8 PWM outs */ _update_rate = 50; /* default output rate */ break; - + case MODE_12PWM: debug("MODE_12PWM"); /* multi-port as 12 PWM outs */ _update_rate = 50; /* default output rate */ break; - + case MODE_16PWM: debug("MODE_16PWM"); /* multi-port as 16 PWM outs */ @@ -513,12 +515,12 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg) break; case PWM_SERVO_SET_UPDATE_RATE: - // HIL always outputs at the alternate (usually faster) rate + // HIL always outputs at the alternate (usually faster) rate g_hil->set_pwm_rate(arg); break; case PWM_SERVO_SET_SELECT_UPDATE_RATE: - // HIL always outputs at the alternate (usually faster) rate + // HIL always outputs at the alternate (usually faster) rate break; case PWM_SERVO_SET(2): @@ -659,7 +661,7 @@ int hil_new_mode(PortMode new_mode) { // uint32_t gpio_bits; - + // /* reset to all-inputs */ // g_hil->ioctl(0, GPIO_RESET, 0); @@ -691,17 +693,17 @@ hil_new_mode(PortMode new_mode) /* select 2-pin PWM mode */ servo_mode = HIL::MODE_2PWM; break; - + case PORT2_8PWM: /* select 8-pin PWM mode */ servo_mode = HIL::MODE_8PWM; break; - + case PORT2_12PWM: /* select 12-pin PWM mode */ servo_mode = HIL::MODE_12PWM; break; - + case PORT2_16PWM: /* select 16-pin PWM mode */ servo_mode = HIL::MODE_16PWM; |