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Tweak protocol register assignments and add new registers to accommodate differences in IOv2.

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This commit is contained in:
px4dev
2013-07-06 23:59:35 -07:00
parent a65a1237f0
commit 8fa226c909
7 changed files with 198 additions and 98 deletions
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16
src/modules/px4iofirmware/mixer.cpp
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@@ -154,7 +154,7 @@ mixer_tick(void)
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++) {
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
@@ -164,11 +164,11 @@ mixer_tick(void)
} else if (source != MIX_NONE) {
float outputs[IO_SERVO_COUNT];
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
/* mix */
mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
@@ -180,7 +180,7 @@ mixer_tick(void)
r_page_servos[i] = (outputs[i] * 600.0f) + 1500;
}
for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
}
@@ -215,7 +215,7 @@ mixer_tick(void)
if (mixer_servos_armed) {
/* update the servo outputs. */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
}
}
@@ -349,11 +349,11 @@ mixer_set_failsafe()
return;
/* set failsafe defaults to the values for all inputs = 0 */
float outputs[IO_SERVO_COUNT];
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
/* mix */
mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT);
mixed = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
/* scale to PWM and update the servo outputs as required */
for (unsigned i = 0; i < mixed; i++) {
@@ -364,7 +364,7 @@ mixer_set_failsafe()
}
/* disable the rest of the outputs */
for (unsigned i = mixed; i < IO_SERVO_COUNT; i++)
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servo_failsafe[i] = 0;
}