From cd4154d805d10f84710a98cc280e0b248c5a6d55 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Tue, 5 May 2015 14:41:53 +0200
Subject: Revert "Merge pull request #1819 from PX4/chan16" because of #2113

This reverts commit f8c8876642857520e85ec8ca027146c11b4301e3, reversing
changes made to de3888bed75347eb8aefdc6cb7dbeeedff749988.
---
 src/drivers/px4io/px4io.cpp           | 16 +++++-----------
 src/modules/px4iofirmware/mixer.cpp   |  6 ++----
 src/modules/px4iofirmware/px4io.h     |  3 +--
 src/modules/px4iofirmware/registers.c |  2 +-
 src/modules/px4iofirmware/sbus.c      |  4 ++--
 5 files changed, 11 insertions(+), 20 deletions(-)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b974b711f..0b24ef152 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1743,20 +1743,14 @@ PX4IO::io_publish_pwm_outputs()
 	uint16_t ctl[_max_actuators];
 	int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
 
-	if (ret != OK){
+	if (ret != OK)
 		return ret;
-	}
-
-	unsigned maxouts = sizeof(outputs.output) / sizeof(outputs.output[0]);
-	unsigned actuator_max = (_max_actuators > maxouts) ? maxouts : _max_actuators;
-
 
 	/* convert from register format to float */
-	for (unsigned i = 0; i < actuator_max; i++){
+	for (unsigned i = 0; i < _max_actuators; i++)
 		outputs.output[i] = ctl[i];
-	}
 
-	outputs.noutputs = actuator_max;
+	outputs.noutputs = _max_actuators;
 
 	/* lazily advertise on first publication */
 	if (_to_outputs == 0) {
@@ -2087,13 +2081,13 @@ PX4IO::print_status(bool extended_status)
 		printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
 	}
 
-	printf("actuators (including S.BUS)");
+	printf("actuators");
 
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
 
 	printf("\n");
-	printf("hardware servo ports");
+	printf("servos");
 
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 6fa26d4ff..f14599a24 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -272,9 +272,8 @@ mixer_tick(void)
 
 	if (mixer_servos_armed && should_arm) {
 		/* update the servo outputs. */
-		for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) {
+		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servos[i]);
-		}
 
 		/* set S.BUS1 or S.BUS2 outputs */
 
@@ -286,9 +285,8 @@ mixer_tick(void)
 
 	} else if (mixer_servos_armed && should_always_enable_pwm) {
 		/* set the disarmed servo outputs. */
-		for (unsigned i = 0; i < PX4IO_SERVO_HARDWARE_COUNT; i++) {
+		for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
 			up_pwm_servo_set(i, r_page_servo_disarmed[i]);
-		}
 
 		/* set S.BUS1 or S.BUS2 outputs */
 		if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT)
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 8ddf45a12..a7ac74c33 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -51,8 +51,7 @@
 /*
  * Constants and limits.
  */
-#define PX4IO_SERVO_COUNT		16
-#define PX4IO_SERVO_HARDWARE_COUNT	8
+#define PX4IO_SERVO_COUNT		8
 #define PX4IO_CONTROL_CHANNELS		8
 #define PX4IO_CONTROL_GROUPS		4
 #define PX4IO_RC_INPUT_CHANNELS		18
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index e7976446c..a8009da41 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -285,7 +285,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
 	case PX4IO_PAGE_DIRECT_PWM:
 
 		/* copy channel data */
-		while ((offset < PX4IO_SERVO_COUNT) && (num_values > 0)) {
+		while ((offset < PX4IO_CONTROL_CHANNELS) && (num_values > 0)) {
 
 			/* XXX range-check value? */
 			if (*values != PWM_IGNORE_THIS_CHANNEL) {
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 14d8ccca2..9d2849090 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -163,8 +163,8 @@ sbus1_output(uint16_t *values, uint16_t num_values)
 void
 sbus2_output(uint16_t *values, uint16_t num_values)
 {
-	// XXX S.BUS2 is not implemented, fall back to S.BUS1
-	sbus1_output(values, num_values);
+	char b = 'B';
+	write(sbus_fd, &b, 1);
 }
 
 bool
-- 
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