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HAL_PX4: updates for upstream merge

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This commit is contained in:
Andrew Tridgell 2015-05-31 14:49:27 +10:00
parent 57cef63b94
commit 333778bac1
4 changed files with 15 additions and 15 deletions
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12
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -231,12 +231,12 @@ void HAL_PX4::init(int argc, char * const argv[]) const
SKETCHNAME, deviceA, deviceC, deviceD, deviceE);
_px4_thread_should_exit = false;
daemon_task = task_spawn_cmd(SKETCHNAME,
SCHED_FIFO,
APM_MAIN_PRIORITY,
APM_MAIN_THREAD_STACK_SIZE,
main_loop,
NULL);
daemon_task = px4_task_spawn_cmd(SKETCHNAME,
SCHED_FIFO,
APM_MAIN_PRIORITY,
APM_MAIN_THREAD_STACK_SIZE,
main_loop,
NULL);
exit(0);
}

12
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -59,10 +59,10 @@ void PX4RCOutput::init(void* unused)
}
// publish actuator vaules on demand
_actuator_direct_pub = -1;
_actuator_direct_pub = NULL;
// and armed state
_actuator_armed_pub = -1;
_actuator_armed_pub = NULL;
}
@ -280,7 +280,7 @@ void PX4RCOutput::_arm_actuators(bool arm)
_armed.lockdown = false;
_armed.force_failsafe = false;
if (_actuator_armed_pub == -1) {
if (_actuator_armed_pub == NULL) {
_actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
} else {
orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
@ -295,8 +295,8 @@ void PX4RCOutput::_publish_actuators(void)
struct actuator_direct_s actuators;
actuators.nvalues = _max_channel;
if (actuators.nvalues > NUM_ACTUATORS_DIRECT) {
actuators.nvalues = NUM_ACTUATORS_DIRECT;
if (actuators.nvalues > actuators.NUM_ACTUATORS_DIRECT) {
actuators.nvalues = actuators.NUM_ACTUATORS_DIRECT;
}
// don't publish more than 8 actuators for now, as the uavcan ESC
// driver refuses to update any motors if you try to publish more
@ -311,7 +311,7 @@ void PX4RCOutput::_publish_actuators(void)
actuators.values[i] = actuators.values[i]*2 - 1;
}
if (_actuator_direct_pub == -1) {
if (_actuator_direct_pub == NULL) {
_actuator_direct_pub = orb_advertise(ORB_ID(actuator_direct), &actuators);
} else {
orb_publish(ORB_ID(actuator_direct), _actuator_direct_pub, &actuators);

4
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -49,8 +49,8 @@ private:
actuator_outputs_s _outputs;
actuator_armed_s _armed;
int _actuator_direct_pub = -1;
int _actuator_armed_pub = -1;
orb_advert_t _actuator_direct_pub = NULL;
orb_advert_t _actuator_armed_pub = NULL;
uint16_t _esc_pwm_min = 1000;
uint16_t _esc_pwm_max = 2000;

2
libraries/AP_HAL_PX4/Scheduler.cpp
View File

@ -242,7 +242,7 @@ void PX4Scheduler::resume_timer_procs()
void PX4Scheduler::reboot(bool hold_in_bootloader)
{
systemreset(hold_in_bootloader);
px4_systemreset(hold_in_bootloader);
}
void PX4Scheduler::_run_timers(bool called_from_timer_thread)