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px4-firmware
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Hotfix: Better PX4IO detection feedbak

This commit is contained in:
Lorenz Meier 2013-08-31 11:22:41 +02:00
parent acc06e7eb1
commit 669a802921
1 changed files with 12 additions and 7 deletions
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19
src/drivers/px4io/px4io.cpp
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@ -497,7 +497,13 @@ PX4IO::detect()
/* get some parameters */
unsigned protocol = io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION);
if (protocol != PX4IO_PROTOCOL_VERSION) {
log("IO not installed");
if (protocol == _io_reg_get_error) {
log("IO not installed");
} else {
log("IO version error");
mavlink_log_emergency(_mavlink_fd, "IO VERSION MISMATCH, PLEASE UPGRADE SOFTWARE!");
}
return -1;
}
log("IO found");
@ -914,7 +920,6 @@ PX4IO::set_max_values(const uint16_t *vals, unsigned len)
int
PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
{
uint16_t regs[_max_actuators];
if (len > _max_actuators)
/* fail with error */
@ -1612,7 +1617,7 @@ PX4IO::print_status()
}
printf("failsafe");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u\n", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i));
printf("\nidle values");
for (unsigned i = 0; i < _max_actuators; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_IDLE_PWM, i));
@ -2233,7 +2238,7 @@ px4io_main(int argc, char *argv[])
/* set values for first 8 channels, fill unassigned channels with 1500. */
uint16_t failsafe[8];
for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) {
for (unsigned i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) {
/* set channel to commandline argument or to 900 for non-provided channels */
if (argc > i + 2) {
@ -2265,7 +2270,7 @@ px4io_main(int argc, char *argv[])
/* set values for first 8 channels, fill unassigned channels with 900. */
uint16_t min[8];
for (int i = 0; i < sizeof(min) / sizeof(min[0]); i++)
for (unsigned i = 0; i < sizeof(min) / sizeof(min[0]); i++)
{
/* set channel to commanline argument or to 900 for non-provided channels */
if (argc > i + 2) {
@ -2300,7 +2305,7 @@ px4io_main(int argc, char *argv[])
/* set values for first 8 channels, fill unassigned channels with 2100. */
uint16_t max[8];
for (int i = 0; i < sizeof(max) / sizeof(max[0]); i++)
for (unsigned i = 0; i < sizeof(max) / sizeof(max[0]); i++)
{
/* set channel to commanline argument or to 2100 for non-provided channels */
if (argc > i + 2) {
@ -2335,7 +2340,7 @@ px4io_main(int argc, char *argv[])
/* set values for first 8 channels, fill unassigned channels with 0. */
uint16_t idle[8];
for (int i = 0; i < sizeof(idle) / sizeof(idle[0]); i++)
for (unsigned i = 0; i < sizeof(idle) / sizeof(idle[0]); i++)
{
/* set channel to commanline argument or to 0 for non-provided channels */
if (argc > i + 2) {