diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 19 |
1 files changed, 12 insertions, 7 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 47baa5770..c88abe59a 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -497,7 +497,13 @@ PX4IO::detect() /* get some parameters */ unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION); if (protocol != PX4IO_PROTOCOL_VERSION) { - log("IO not installed"); + if (protocol == _io_reg_get_error) { + log("IO not installed"); + } else { + log("IO version error"); + mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!"); + } + return -1; } log("IO found"); @@ -914,7 +920,6 @@ PX4IO::set_max_values(const uint16_t *vals, unsigned len) int PX4IO::set_idle_values(const uint16_t *vals, unsigned len) { - uint16_t regs[_max_actuators]; if (len > _max_actuators) /* fail with error */ @@ -1612,7 +1617,7 @@ PX4IO::print_status() } printf("failsafe"); for (unsigned i = 0; i < _max_actuators; i++) - printf(" %u\n", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); + printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); printf("\nidle values"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i)); @@ -2233,7 +2238,7 @@ px4io_main(int argc, char *argv[]) /* set values for first 8 channels, fill unassigned channels with 1500. */ uint16_t failsafe[8]; - for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) { + for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) { /* set channel to commandline argument or to 900 for non-provided channels */ if (argc > i + 2) { @@ -2265,7 +2270,7 @@ px4io_main(int argc, char *argv[]) /* set values for first 8 channels, fill unassigned channels with 900. */ uint16_t min[8]; - for (int i = 0; i < sizeof(min) / sizeof(min[0]); i++) + for (unsigned i = 0; i < sizeof(min) / sizeof(min[0]); i++) { /* set channel to commanline argument or to 900 for non-provided channels */ if (argc > i + 2) { @@ -2300,7 +2305,7 @@ px4io_main(int argc, char *argv[]) /* set values for first 8 channels, fill unassigned channels with 2100. */ uint16_t max[8]; - for (int i = 0; i < sizeof(max) / sizeof(max[0]); i++) + for (unsigned i = 0; i < sizeof(max) / sizeof(max[0]); i++) { /* set channel to commanline argument or to 2100 for non-provided channels */ if (argc > i + 2) { @@ -2335,7 +2340,7 @@ px4io_main(int argc, char *argv[]) /* set values for first 8 channels, fill unassigned channels with 0. */ uint16_t idle[8]; - for (int i = 0; i < sizeof(idle) / sizeof(idle[0]); i++) + for (unsigned i = 0; i < sizeof(idle) / sizeof(idle[0]); i++) { /* set channel to commanline argument or to 0 for non-provided channels */ if (argc > i + 2) { |