diff options
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 19 |
1 files changed, 8 insertions, 11 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 61049c8b6..df7d6dcd3 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -41,6 +41,7 @@ #include <stdbool.h> #include <stdlib.h> +#include <string.h> #include <drivers/drv_hrt.h> @@ -178,8 +179,10 @@ uint16_t r_page_rc_input_config[MAX_CONTROL_CHANNELS * PX4IO_P_RC_CONFIG_STRIDE * PAGE 105 * * Failsafe servo PWM values + * + * Disable pulses as default. */ -uint16_t r_page_servo_failsafe[IO_SERVO_COUNT]; +uint16_t r_page_servo_failsafe[IO_SERVO_COUNT] = { 0 }; void registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) @@ -203,7 +206,6 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num system_state.fmu_data_received_time = hrt_absolute_time(); r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; - r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RAW_PWM; break; @@ -231,11 +233,14 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num case PX4IO_PAGE_FAILSAFE_PWM: /* copy channel data */ - while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) { + while ((offset < IO_SERVO_COUNT) && (num_values > 0)) { /* XXX range-check value? */ r_page_servo_failsafe[offset] = *values; + /* flag the failsafe values as custom */ + r_setup_arming |= PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM; + offset++; num_values--; values++; @@ -413,18 +418,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) if (conf[PX4IO_P_RC_CONFIG_CENTER] > conf[PX4IO_P_RC_CONFIG_MAX]) { count++; } - /* assert deadzone is sane */ if (conf[PX4IO_P_RC_CONFIG_DEADZONE] > 500) { count++; } - // The following check isn't needed as constraint checks in controls.c will catch this. - //if (conf[PX4IO_P_RC_CONFIG_MIN] > (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - // count++; - //} - //if (conf[PX4IO_P_RC_CONFIG_MAX] < (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) { - // count++; - //} if (conf[PX4IO_P_RC_CONFIG_ASSIGNMENT] >= MAX_CONTROL_CHANNELS) { count++; } |