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Merge pull request #1266 from PX4/norc 

Fix NO RC handling (fixes #1263)
This commit is contained in:
Lorenz Meier 2014-08-12 15:35:05 +02:00
parent 3f4aef60c8 0c0c8e943a
commit 62959d4d01
1 changed files with 29 additions and 7 deletions
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36
src/drivers/px4io/px4io.cpp
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@ -135,6 +135,15 @@ public:
*/
virtual int init();
/**
* Initialize the PX4IO class.
*
* Retrieve relevant initial system parameters. Initialize PX4IO registers.
*
* @param disable_rc_handling set to true to forbid override / RC handling on IO
*/
int init(bool disable_rc_handling);
/**
* Detect if a PX4IO is connected.
*
@ -579,6 +588,12 @@ PX4IO::detect()
return 0;
}
int
PX4IO::init(bool rc_handling_disabled) {
_rc_handling_disabled = rc_handling_disabled;
return init();
}
int
PX4IO::init()
{
@ -778,6 +793,11 @@ PX4IO::init()
if (_rc_handling_disabled) {
ret = io_disable_rc_handling();
if (ret != OK) {
log("failed disabling RC handling");
return ret;
}
} else {
/* publish RC config to IO */
ret = io_set_rc_config();
@ -1175,6 +1195,7 @@ PX4IO::io_set_arming_state()
int
PX4IO::disable_rc_handling()
{
_rc_handling_disabled = true;
return io_disable_rc_handling();
}
@ -2613,24 +2634,25 @@ start(int argc, char *argv[])
errx(1, "driver alloc failed");
}
if (OK != g_dev->init()) {
delete g_dev;
g_dev = nullptr;
errx(1, "driver init failed");
}
bool rc_handling_disabled = false;
/* disable RC handling on request */
if (argc > 1) {
if (!strcmp(argv[1], "norc")) {
if (g_dev->disable_rc_handling())
warnx("Failed disabling RC handling");
rc_handling_disabled = true;
} else {
warnx("unknown argument: %s", argv[1]);
}
}
if (OK != g_dev->init(rc_handling_disabled)) {
delete g_dev;
g_dev = nullptr;
errx(1, "driver init failed");
}
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
int dsm_vcc_ctl;