remove pwm "trim" command; replaced by parameter values

src/systemcmds/pwm/pwm.c

@@ -90,7 +90,7 @@ usage(const char *reason)
 	     "disarmed ...\t\t\tDisarmed PWM\n"
 	     "min ...\t\t\t\tMinimum PWM\n"
 	     "max ...\t\t\t\tMaximum PWM\n"
-	     "trim ...\t\t\tTrim PWM\n"
+//	     "trim ...\t\t\tTrim PWM\n"
 	     "\t[-c <channels>]\t\t(e.g. 1234)\n"
 	     "\t[-m <channel mask> ]\t(e.g. 0xF)\n"
 	     "\t[-a]\t\t\tConfigure all outputs\n"
@@ -168,7 +168,7 @@ pwm_main(int argc, char *argv[])
 	unsigned group;
 	unsigned long channels;
 	unsigned single_ch = 0;
-	unsigned pwm_value = 0;
+	int pwm_value = 0;
 
 	if (argc < 2) {
 		usage(NULL);
@@ -449,48 +449,49 @@ pwm_main(int argc, char *argv[])
 
 		exit(0);
 
-	} else if (!strcmp(argv[1], "trim")) {
-
-		if (set_mask == 0) {
-			usage("no channels set");
-		}
-
-		struct pwm_output_values pwm_values;
-
-		memset(&pwm_values, 0, sizeof(pwm_values));
-
-		pwm_values.channel_count = servo_count;
-
-		/* first get current state before modifying it */
-		ret = ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (long unsigned int)&pwm_values);
-
-		if (ret != OK) {
-			errx(ret, "failed get trim values");
-		}
-
-		for (unsigned i = 0; i < servo_count; i++) {
-			if (set_mask & 1 << i) {
-				pwm_values.values[i] = pwm_value;
-
-				if (print_verbose) {
-					warnx("Channel %d: trim PWM: %d", i + 1, pwm_value);
-				}
-			}
-		}
-
-		if (pwm_values.channel_count == 0) {
-			usage("no PWM values added");
-
-		} else {
-
-			ret = ioctl(fd, PWM_SERVO_SET_TRIM_PWM, (long unsigned int)&pwm_values);
-
-			if (ret != OK) {
-				errx(ret, "failed setting trim values");
-			}
-		}
-
-		exit(0);
+//	} else if (!strcmp(argv[1], "trim")) {
+//
+//		if (set_mask == 0) {
+//			usage("no channels set");
+//		}
+//
+//		struct pwm_output_values pwm_values;
+//
+//		memset(&pwm_values, 0, sizeof(pwm_values));
+//
+//		pwm_values.channel_count = servo_count;
+//
+//		/* first get current state before modifying it */
+//		ret = ioctl(fd, PWM_SERVO_GET_TRIM_PWM, (long unsigned int)&pwm_values);
+//
+//		if (ret != OK) {
+//			errx(ret, "failed get trim values");
+//		}
+//
+//		for (unsigned i = 0; i < servo_count; i++) {
+//			if (set_mask & 1 << i) {
+//				pwm_values.values[i] = pwm_value;
+//
+//				if (print_verbose) {
+//					warnx("Channel %d: trim PWM: %d", i + 1, pwm_value);
+//				}
+//			}
+//		}
+//
+//		if (pwm_values.channel_count == 0) {
+//			usage("no PWM values added");
+//
+//		} else {
+//
+//			ret = ioctl(fd, PWM_SERVO_SET_TRIM_PWM, (long unsigned int)&pwm_values);
+//
+//			if (ret != OK) {
+//				errx(ret, "failed setting trim values");
+//			}
+//		}
+//
+//		exit(0);
+//
 
 	} else if (!strcmp(argv[1], "disarmed")) {
 
@@ -861,8 +862,9 @@ pwm_main(int argc, char *argv[])
 				}
 
 
-				printf(" failsafe: %d, disarmed: %d us, min: %d us, max: %d us, trim: %d us)",
-				       failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i], trim_pwm.values[i]);
+				printf(" failsafe: %d, disarmed: %d us, min: %d us, max: %d us, trim: %5.2f)",
+				       failsafe_pwm.values[i], disarmed_pwm.values[i], min_pwm.values[i], max_pwm.values[i],
+				       (double)((int16_t)(trim_pwm.values[i]) / 10000.0f));
 				printf("\n");
 
 			} else {