Merge pull request #703 from PX4/act_group_hotfix

Actuator group hotfix
PX4 · Mar 12, 2014 · b9e8690 · b9e8690
2 parents 82e2619 + 5d4797b
commit b9e8690
Show file tree

Hide file tree

Showing 3 changed files with 8 additions and 6 deletions.
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
@@ -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;

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
@@ -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) {

diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
@@ -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 */