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px4-firmware
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Code Pull Requests Activity

PWM command: Fix min/max/disarmed/failsafe commands to also read the current settings first before modifying them.

This commit is contained in:
Lorenz Meier 2015-02-21 11:08:08 +01:00
parent 653b3e71be
commit 3532a09a15
1 changed files with 27 additions and 8 deletions
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35
src/systemcmds/pwm/pwm.c
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@ -279,7 +279,14 @@ pwm_main(int argc, char *argv[])
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_MIN_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get min values");
}
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
@ -287,7 +294,6 @@ pwm_main(int argc, char *argv[])
if (print_verbose)
warnx("Channel %d: min PWM: %d", i+1, pwm_value);
}
pwm_values.channel_count++;
}
if (pwm_values.channel_count == 0) {
@ -308,7 +314,14 @@ pwm_main(int argc, char *argv[])
if (pwm_value == 0)
usage("no PWM value provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_MAX_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get max values");
}
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
@ -316,7 +329,6 @@ pwm_main(int argc, char *argv[])
if (print_verbose)
warnx("Channel %d: max PWM: %d", i+1, pwm_value);
}
pwm_values.channel_count++;
}
if (pwm_values.channel_count == 0) {
@ -338,8 +350,10 @@ pwm_main(int argc, char *argv[])
warnx("reading disarmed value of zero, disabling disarmed PWM");
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values.values);
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get disarmed values");
}
@ -351,7 +365,6 @@ pwm_main(int argc, char *argv[])
warnx("chan %d: disarmed PWM: %d", i+1, pwm_value);
}
}
pwm_values.channel_count++;
}
if (pwm_values.channel_count == 0) {
@ -373,7 +386,14 @@ pwm_main(int argc, char *argv[])
if (pwm_value == 0)
usage("no PWM provided");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
struct pwm_output_values pwm_values;
memset(&pwm_values, 0, sizeof(pwm_values));
pwm_values.channel_count = servo_count;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_FAILSAFE_PWM, (long unsigned int)&pwm_values);
if (ret != OK) {
errx(ret, "failed get failsafe values");
}
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
@ -381,7 +401,6 @@ pwm_main(int argc, char *argv[])
if (print_verbose)
warnx("Channel %d: failsafe PWM: %d", i+1, pwm_value);
}
pwm_values.channel_count++;
}
if (pwm_values.channel_count == 0) {