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HAL_PX4: support setting servo rate

This commit is contained in:
Andrew Tridgell 2013-01-05 22:45:17 +11:00
parent 0660873fa7
commit 319e1a4e84
2 changed files with 6 additions and 2 deletions
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7
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -27,12 +27,15 @@ void PX4RCOutput::init(void* unused)
void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) void PX4RCOutput::set_freq(uint32_t chmask, uint16_t freq_hz)
{ {
// no support for this yet // we can't set this per channel yet
if (ioctl(_pwm_fd, PWM_SERVO_SET_UPDATE_RATE, (unsigned long)freq_hz) == 0) {
_freq_hz = freq_hz;
}
} }
uint16_t PX4RCOutput::get_freq(uint8_t ch) uint16_t PX4RCOutput::get_freq(uint8_t ch)
{ {
return 50; return _freq_hz;
} }
void PX4RCOutput::enable_ch(uint8_t ch) void PX4RCOutput::enable_ch(uint8_t ch)

1
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -21,6 +21,7 @@ public:
private: private:
int _pwm_fd; int _pwm_fd;
uint16_t _freq_hz;
}; };
#endif // __AP_HAL_PX4_RCOUTPUT_H__ #endif // __AP_HAL_PX4_RCOUTPUT_H__