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px4-firmware
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Fix usage of wrong constant for RC input channels

This commit is contained in:
Lorenz Meier 2013-12-22 20:44:51 +01:00
parent 999051546a
commit 6c990d0a6e
1 changed files with 12 additions and 10 deletions
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22
src/modules/px4iofirmware/controls.c
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@ -66,7 +66,7 @@ controls_init(void)
sbus_init("/dev/ttyS2");
/* default to a 1:1 input map, all enabled */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
for (unsigned i = 0; i < PX4IO_RC_INPUT_CHANNELS; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
r_page_rc_input_config[base + PX4IO_P_RC_CONFIG_OPTIONS] = 0;
@ -113,7 +113,7 @@ controls_tick() {
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_RC_INPUT_CHANNELS);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
}
@ -210,14 +210,16 @@ controls_tick() {
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
ASSERT(mapped < PX4IO_CONTROL_CHANNELS);
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
}
@ -334,8 +336,8 @@ ppm_input(uint16_t *values, uint16_t *num_values)
/* PPM data exists, copy it */
*num_values = ppm_decoded_channels;
if (*num_values > PX4IO_CONTROL_CHANNELS)
*num_values = PX4IO_CONTROL_CHANNELS;
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
values[i] = ppm_buffer[i];