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PX4IO: Enable S.BUS if config param is set, ignore if no param present

This commit is contained in:
Lorenz Meier 2015-08-08 23:50:05 +02:00
parent 4cfad588ff
commit e07e4743c5
1 changed files with 27 additions and 10 deletions
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37
src/drivers/px4io/px4io.cpp
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@ -1116,25 +1116,42 @@ PX4IO::task_main()
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_REVERSE, pwm_invert_mask);
float trim_val;
param_t trim_parm;
param_t parm_handle;
trim_parm = param_find("TRIM_ROLL");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_ROLL");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_ROLL, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_PITCH");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_PITCH");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_PITCH, FLOAT_TO_REG(trim_val));
}
trim_parm = param_find("TRIM_YAW");
if (trim_parm != PARAM_INVALID) {
param_get(trim_parm, &trim_val);
parm_handle = param_find("TRIM_YAW");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &trim_val);
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_TRIM_YAW, FLOAT_TO_REG(trim_val));
}
/* S.BUS output */
int sbus_mode;
parm_handle = param_find("PWM_SBUS_MODE");
if (parm_handle != PARAM_INVALID) {
param_get(parm_handle, &sbus_mode);
if (sbus_mode == 1) {
/* enable S.BUS 1 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
} else if (sbus_mode == 2) {
/* enable S.BUS 2 */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
} else {
/* disable S.BUS */
(void)io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
}
}
}
}