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Set default failsafe value to 0 of mixer

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Lorenz Meier
2013-05-29 17:07:26 +02:00
parent d2c60a248d
commit f6570172da
3 changed files with 62 additions and 9 deletions
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29
src/drivers/px4io/px4io.cpp
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@@ -704,12 +704,8 @@ PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len)
unsigned max = (len < _max_actuators) ? len : _max_actuators;
/* set failsafe values */
for (unsigned i = 0; i < max; i++)
regs[i] = FLOAT_TO_REG(vals[i]);
/* copy values to registers in IO */
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, regs, max);
return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, max);
}
int
@@ -1744,11 +1740,28 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "failsafe")) {
/* XXX parse arguments here */
if (argc < 3) {
errx(1, "failsafe command needs at least one channel value (ppm)");
}
if (g_dev != nullptr) {
/* XXX testing values */
uint16_t failsafe[4] = {1500, 1500, 1200, 1200};
/* 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++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
failsafe[i] = atoi(argv[i+2]);
if (failsafe[i] < 800 || failsafe[i] > 2200) {
errx(1, "value out of range of 800 < value < 2200. Aborting.");
}
} else {
failsafe[i] = 1500;
}
}
g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0]));
} else {
errx(1, "not loaded");