From 0d9693347fff77223613b7b319473ccc25d6d921 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Thu, 15 Feb 2018 21:31:23 +0100
Subject: [PATCH] fmu + px4io: fixes for MC_AIRMODE parameter
- fmu: in case of _mot_t_max==0 _airmode was not set in the mixer
- px4io: param_val is a float
---
src/drivers/px4fmu/fmu.cpp | 5 +++--
src/drivers/px4io/px4io.cpp | 5 +++--
2 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index e3a55852a8..4c2ac5ddde 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1294,7 +1294,6 @@ PX4FMU::cycle()
// factor 2 is needed because actuator outputs are in the range [-1,1]
const float delta_out_max = 2.0f * 1000.0f * dt / (_max_pwm[0] - _min_pwm[0]) / _mot_t_max;
_mixers->set_max_delta_out_once(delta_out_max);
- _mixers->set_airmode(_airmode);
}
if (_thr_mdl_fac > FLT_EPSILON) {
@@ -1363,6 +1362,8 @@ PX4FMU::cycle()
ORB_PRIO_DEFAULT);
}
+ _mixers->set_airmode(_airmode);
+
perf_end(_ctl_latency);
}
}
@@ -1791,7 +1792,7 @@ void PX4FMU::update_params()
param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
- int val;
+ int32_t val;
param_get(param_handle, &val);
_airmode = val > 0;
PX4_DEBUG("%s: %d", "MC_AIRMODE", _airmode);
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 3b83580909..164d798c2d 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1226,8 +1226,9 @@ PX4IO::task_main()
parm_handle = param_find("MC_AIRMODE");
if (parm_handle != PARAM_INVALID) {
- param_get(parm_handle, ¶m_val);
- (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_AIRMODE, SIGNED_TO_REG(param_val));
+ int32_t param_val_int;
+ param_get(parm_handle, ¶m_val_int);
+ (void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_AIRMODE, SIGNED_TO_REG(param_val_int));
}
}
--
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