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HAL_PX4: added rcout set_detault_rate()

This commit is contained in:
Andrew Tridgell 2017-07-17 09:19:00 +10:00
parent 0188d6463d
commit 5b43698e25
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -641,4 +641,13 @@ void PX4RCOutput::set_output_mode(enum output_mode mode)
}
// set default output update rate
void PX4RCOutput::set_default_rate(uint16_t rate_hz)
{
ioctl(_pwm_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz);
if (_alt_fd != -1) {
ioctl(_alt_fd, PWM_SERVO_SET_DEFAULT_UPDATE_RATE, rate_hz);
}
}
#endif // CONFIG_HAL_BOARD

3
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -40,6 +40,9 @@ public:
void timer_tick(void) override;
bool enable_sbus_out(uint16_t rate_hz) override;
// set default output update rate
void set_default_rate(uint16_t rate_hz) override;
private:
int _pwm_fd;
int _alt_fd;