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px4-firmware
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Tell mavlink about bind results

This commit is contained in:
Jean Cyr 2013-08-11 21:16:55 -04:00
parent 35ec651cee
commit 0b93555043
1 changed files with 17 additions and 7 deletions
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24
src/drivers/px4io/px4io.cpp
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@ -577,9 +577,11 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@ -679,16 +681,24 @@ PX4IO::task_main()
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
int32_t dsm_bind_param;
int32_t dsm_bind_val;
param_t dsm_bind_param;
// See if bind parameter has been set, and reset it to 0
param_get(param_find("RC_DSM_BIND"), &dsm_bind_param);
if (dsm_bind_param) {
if (((dsm_bind_param == 1) || (dsm_bind_param == 2)) && !_system_armed) {
ioctl(nullptr, DSM_BIND_START, dsm_bind_param == 1 ? 3 : 7);
param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
if (dsm_bind_val) {
if (!_system_armed) {
if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
} else {
mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
}
} else {
mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
}
dsm_bind_param = 0;
param_set(param_find("RC_DSM_BIND"), &dsm_bind_param);
dsm_bind_val = 0;
param_set(dsm_bind_param, &dsm_bind_val);
}
/* copy to reset the notification */