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Actuator group hotfix #703

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merged 7 commits into from
Mar 12, 2014
Merged

Actuator group hotfix #703

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046def5
sensors: publish manual controls on actuator_controls_1 topic instead…
DrTon Mar 4, 2014
a50957c
px4io: print all control groups in "px4io status"
DrTon Mar 4, 2014
529013a
Reverse: sensors: publish manual controls on actuator_controls_1 topi…
DrTon Mar 4, 2014
af548db
px4iofirmware: define 4 actuator control groups
DrTon Mar 4, 2014
149bf45
px4io: hardcode number of control groups in "px4io status"
DrTon Mar 4, 2014
a8ff126
px4io: print actuator control registers as int16 instead of uint16
DrTon Mar 5, 2014
5d4797b
Merge branch 'master' into act_group_hotfix
DrTon Mar 5, 2014
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10 changes: 6 additions & 4 deletions src/drivers/px4io/px4io.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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));
for (unsigned i = 0; i < _max_controls; i++)
printf(" %d", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i));

printf("\n");
printf("\n");
}

for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
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2 changes: 1 addition & 1 deletion src/modules/px4iofirmware/mixer.cpp
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Expand Up @@ -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) {
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2 changes: 1 addition & 1 deletion src/modules/px4iofirmware/px4io.h
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Expand Up @@ -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 */

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