diff options
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 16 |
1 files changed, 4 insertions, 12 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b73f71572..a6f337486 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -59,15 +59,7 @@ #include <drivers/drv_gpio.h> #include <drivers/drv_hrt.h> -#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) -# include <drivers/boards/px4fmu/px4fmu_internal.h> -# define FMU_HAVE_PPM -#elif defined(CONFIG_ARCH_BOARD_PX4FMU_V2) -# include <drivers/boards/px4fmuv2/px4fmu_internal.h> -# undef FMU_HAVE_PPM -#else -# error Unrecognised FMU board. -#endif +# include <board_config.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -80,7 +72,7 @@ #include <uORB/topics/actuator_outputs.h> #include <systemlib/err.h> -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL # include <systemlib/ppm_decode.h> #endif @@ -455,7 +447,7 @@ PX4FMU::task_main() fds[1].fd = _t_armed; fds[1].events = POLLIN; -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL // rc input, published to ORB struct rc_input_values rc_in; orb_advert_t to_input_rc = 0; @@ -585,7 +577,7 @@ PX4FMU::task_main() } } -#ifdef FMU_HAVE_PPM +#ifdef HRT_PPM_CHANNEL // see if we have new PPM input data if (ppm_last_valid_decode != rc_in.timestamp) { // we have a new PPM frame. Publish it. |