From 5d36971689566e2142a16643a77337f2e3613c35 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Fri, 11 Oct 2013 16:59:21 +0200 Subject: Base max actuators on board revision --- src/drivers/px4fmu/fmu.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 8e9e8103f..e729612cc 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -101,7 +101,12 @@ public: int set_pwm_alt_channels(uint32_t channels); private: +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) + static const unsigned _max_actuators = 4; +#endif +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) static const unsigned _max_actuators = 6; +#endif Mode _mode; unsigned _pwm_default_rate; @@ -214,10 +219,13 @@ PX4FMU::PX4FMU() : _pwm_on(false), _mixers(nullptr), _disarmed_pwm({0}), - _min_pwm({PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN}), - _max_pwm({PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX}), _num_disarmed_set(0) { + for (unsigned i = 0; i < _max_actuators; i++) { + _min_pwm[i] = PWM_MIN; + _max_pwm[i] = PWM_MAX; + } + _debug_enabled = true; } -- cgit v1.2.3