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PX4IO driver: Support trim values

This commit is contained in:
Lorenz Meier 2015-06-09 14:19:00 +02:00
parent 90362a9889
commit 284da7d344
1 changed files with 21 additions and 0 deletions
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21
src/drivers/px4io/px4io.cpp
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@ -1114,6 +1114,27 @@ PX4IO::task_main()
}
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
float trim_val;
param_t trim_parm;
trim_parm = param_find("TRIM_ROLL");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_PITCH");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_YAW");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
}
}
}