Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: fixed AUTO_KICKSTART GPIO pin handling

Browse Source
This commit is contained in:
Andrew Tridgell 2013-03-22 12:31:35 +11:00
parent eb6c66af7e
commit c76f8a5242
1 changed files with 13 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
APMrover2/Steering.pde
View File

@ -40,11 +40,19 @@ static bool auto_check_trigger(void)
}
if (g.auto_trigger_pin != -1) {
hal.gpio->pinMode(g.auto_trigger_pin, GPIO_INPUT);
if (hal.gpio->read(g.auto_trigger_pin) == 0) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
auto_triggered = true;
return true;
int8_t pin = hal.gpio->analogPinToDigitalPin(g.auto_trigger_pin);
if (pin != -1) {
// ensure we are in input mode
hal.gpio->pinMode(pin, GPIO_INPUT);
// enable pullup
hal.gpio->write(pin, 1);
if (hal.gpio->read(pin) == 0) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
auto_triggered = true;
return true;
}
}
}