yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Reverting 2e8accc6ff infavor of IO init changes

Browse Source
This commit is contained in:
David Sidrane
2016-01-25 10:43:50 -10:00
committed by Lorenz Meier
parent 1454e2acba
commit 1843eea917
1 changed files with 16 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
src/drivers/px4fmu/fmu.cpp
View File

@@ -161,8 +161,6 @@ private:
volatile bool _initialized;
bool _throttle_armed;
bool _pwm_on;
bool _pwm_init;
uint8_t _pwm_channel_mask;
MixerGroup *_mixers;
@@ -315,8 +313,6 @@ PX4FMU::PX4FMU() :
_initialized(false),
_throttle_armed(false),
_pwm_on(false),
_pwm_init(false),
_pwm_channel_mask(0),
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
@@ -422,7 +418,10 @@ PX4FMU::set_mode(Mode mode)
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_channel_mask = 0x3;
/* XXX magic numbers */
up_pwm_servo_init(0x3);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
@@ -433,7 +432,10 @@ PX4FMU::set_mode(Mode mode)
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_channel_mask = 0xf;
/* XXX magic numbers */
up_pwm_servo_init(0xf);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
@@ -444,7 +446,10 @@ PX4FMU::set_mode(Mode mode)
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_channel_mask = 0x3f;
/* XXX magic numbers */
up_pwm_servo_init(0x3f);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
@@ -456,7 +461,10 @@ PX4FMU::set_mode(Mode mode)
_pwm_default_rate = 50;
_pwm_alt_rate = 50;
_pwm_alt_rate_channels = 0;
_pwm_channel_mask = 0xff;
/* XXX magic numbers */
up_pwm_servo_init(0xff);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
break;
#endif
@@ -469,7 +477,6 @@ PX4FMU::set_mode(Mode mode)
/* disable servo outputs - no need to set rates */
up_pwm_servo_deinit();
_pwm_init = false;
break;
@@ -866,13 +873,6 @@ PX4FMU::cycle()
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;
if (!_pwm_init && _pwm_on) {
up_pwm_servo_init(_pwm_channel_mask);
set_pwm_rate(_pwm_alt_rate_channels, _pwm_default_rate, _pwm_alt_rate);
_pwm_init = true;
}
up_pwm_servo_arm(pwm_on);
}
}