dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Update PWM out sim

This commit is contained in:
Lorenz Meier 2015-08-12 19:18:16 +02:00
parent ad9857f885
commit 8dd8179f4c
2 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/drivers/pwm_out_sim/module.mk
View File

@ -35,9 +35,9 @@
# Hardware in the Loop (HIL) simulation actuator output bank
#
MODULE_COMMAND = hil
MODULE_COMMAND = pwm_out_sim
SRCS = hil.cpp
SRCS = pwm_out_sim.cpp
MAXOPTIMIZATION = -Os
MODULE_STACKSIZE = 1200

12
src/drivers/pwm_out_sim/pwm_out_sim.cpp
View File

@ -171,7 +171,7 @@ HIL::HIL() :
#else
VDev
#endif
("hilservo", PWM_OUTPUT0_DEVICE_PATH/*"/dev/hil" XXXL*/),
("pwm_out_sim", PWM_OUTPUT0_DEVICE_PATH),
_task(-1),
_mode(MODE_NONE),
_update_rate(50),
@ -231,7 +231,7 @@ HIL::init()
}
/* start the HIL interface task */
_task = px4_task_spawn_cmd("fmuhil",
_task = px4_task_spawn_cmd("pwm_out_sim",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1200,
@ -823,7 +823,7 @@ int
fake(int argc, char *argv[])
{
if (argc < 5) {
puts("hil fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
puts("pwm_out_sim fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
return -EINVAL;
}
@ -853,8 +853,8 @@ extern "C" __EXPORT int hil_main(int argc, char *argv[]);
static void
usage() {
fprintf(stderr, "HIL: unrecognized command, try:\n");
fprintf(stderr, " mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16\n");
PX4_WARN("pwm_out_sim: unrecognized command, try:");
PX4_WARN(" mode_pwm, mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio, mode_port2_pwm8, mode_port2_pwm12, mode_port2_pwm16");
}
int
@ -927,7 +927,7 @@ hil_main(int argc, char *argv[])
if ( ret == OK && g_hil->_task == -1 ) {
ret = g_hil->init();
if (ret != OK) {
warnx("failed to start the HIL driver");
warnx("failed to start the pwm_out_sim driver");
delete g_hil;
g_hil = nullptr;
}