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Merge pull request #703 from PX4/act_group_hotfix 

Actuator group hotfix
This commit is contained in:
Lorenz Meier 2014-03-12 21:56:07 +01:00
parent 82e2619f1f 5d4797b858
commit b9e8690c61
3 changed files with 8 additions and 6 deletions
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6
src/drivers/px4io/px4io.cpp
View File

@ -1921,12 +1921,14 @@ PX4IO::print_status()
io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE));
#endif
printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG));
printf("controls");
for (unsigned group = 0; group < 4; group++) {
printf("controls %u:", group);
for (unsigned i = 0; i < _max_controls; i++)
printf(" %u", io_reg_get(PX4IO_PAGE_CONTROLS, i));
printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));
printf("\n");
}
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;

2
src/modules/px4iofirmware/mixer.cpp
View File

@ -267,7 +267,7 @@ mixer_callback(uintptr_t handle,
uint8_t control_index,
float &control)
{
if (control_group > 3)
if (control_group >= PX4IO_CONTROL_GROUPS)
return -1;
switch (source) {

2
src/modules/px4iofirmware/px4io.h
View File

@ -53,7 +53,7 @@
*/
#define PX4IO_SERVO_COUNT 8
#define PX4IO_CONTROL_CHANNELS 8
#define PX4IO_CONTROL_GROUPS 2
#define PX4IO_CONTROL_GROUPS 4
#define PX4IO_RC_INPUT_CHANNELS 18
#define PX4IO_RC_MAPPED_CONTROL_CHANNELS 8 /**< This is the maximum number of channels mapped/used */