diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 45 |
1 files changed, 29 insertions, 16 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 96ebedd83..1c9a5adc9 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -834,7 +834,7 @@ PX4IO::init() _task = task_spawn_cmd("px4io", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, - 2000, + 1800, (main_t)&PX4IO::task_main_trampoline, nullptr); @@ -1102,7 +1102,7 @@ PX4IO::io_set_control_state(unsigned group) uint16_t regs[_max_actuators]; /* get controls */ - bool changed; + bool changed = false; switch (group) { case 0: @@ -1144,11 +1144,13 @@ PX4IO::io_set_control_state(unsigned group) break; } - if (!changed) + if (!changed) { return -1; + } - for (unsigned i = 0; i < _max_controls; i++) + for (unsigned i = 0; i < _max_controls; i++) { regs[i] = FLOAT_TO_REG(controls.control[i]); + } /* copy values to registers in IO */ return io_reg_set(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT, regs, _max_controls); @@ -1773,12 +1775,12 @@ PX4IO::print_debug() #ifdef CONFIG_ARCH_BOARD_PX4FMU_V2 int io_fd = -1; - if (io_fd < 0) { + if (io_fd <= 0) { io_fd = ::open("/dev/ttyS0", O_RDONLY | O_NONBLOCK | O_NOCTTY); } /* read IO's output */ - if (io_fd > 0) { + if (io_fd >= 0) { pollfd fds[1]; fds[0].fd = io_fd; fds[0].events = POLLIN; @@ -2278,6 +2280,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) case PWM_SERVO_GET_DISABLE_LOCKDOWN: *(unsigned *)arg = _lockdown_override; + break; case PWM_SERVO_SET_FORCE_SAFETY_OFF: /* force safety swith off */ @@ -3003,11 +3006,14 @@ monitor(void) fds[0].fd = 0; fds[0].events = POLLIN; - poll(fds, 1, 2000); + if (poll(fds, 1, 2000) < 0) { + errx(1, "poll fail"); + } if (fds[0].revents == POLLIN) { - int c; - read(0, &c, 1); + /* control logic is to cancel with any key */ + char c; + (void)read(0, &c, 1); if (cancels-- == 0) { printf("\033[2J\033[H"); /* move cursor home and clear screen */ @@ -3069,12 +3075,13 @@ lockdown(int argc, char *argv[]) if (ret > 0) { - read(0, &c, 1); + if (read(0, &c, 1) > 0) { - if (c != 'y') { - exit(0); - } else if (c == 'y') { - break; + if (c != 'y') { + exit(0); + } else if (c == 'y') { + break; + } } } @@ -3237,7 +3244,13 @@ px4io_main(int argc, char *argv[]) if (!strcmp(argv[1], "limit")) { if ((argc > 2)) { - g_dev->set_update_rate(atoi(argv[2])); + int limitrate = atoi(argv[2]); + + if (limitrate > 0) { + g_dev->set_update_rate(limitrate); + } else { + errx(1, "invalid rate: %d", limitrate); + } } else { errx(1, "missing argument (50 - 500 Hz)"); |