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HAL_PX4: added new arming ioctls

This commit is contained in:
Andrew Tridgell 2013-05-16 16:26:57 +10:00
parent 0540acfec9
commit 2c149bac8e
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -26,6 +26,11 @@ void PX4RCOutput::init(void* unused)
if (ioctl(_pwm_fd, PWM_SERVO_ARM, 0) != 0) { if (ioctl(_pwm_fd, PWM_SERVO_ARM, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup IO arming\n"); hal.console->printf("RCOutput: Unable to setup IO arming\n");
} }
#ifdef PWM_SERVO_SET_ARM_OK
if (ioctl(_pwm_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
}
#endif
_rate_mask = 0; _rate_mask = 0;
_alt_fd = -1; _alt_fd = -1;
_servo_count = 0; _servo_count = 0;
@ -51,6 +56,11 @@ void PX4RCOutput::init(void* unused)
if (ioctl(_alt_fd, PWM_SERVO_ARM, 0) != 0) { if (ioctl(_alt_fd, PWM_SERVO_ARM, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup alt IO arming\n"); hal.console->printf("RCOutput: Unable to setup alt IO arming\n");
} }
#ifdef PWM_SERVO_SET_ARM_OK
if (ioctl(_alt_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
}
#endif
if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) { if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) {
hal.console->printf("RCOutput: Unable to get servo count\n"); hal.console->printf("RCOutput: Unable to get servo count\n");
return; return;