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Code Issues Releases Activity

LP-385 - Fix Actuator support for CameraControl

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This commit is contained in:
Alessio Morale 2016-08-29 19:57:55 +02:00
parent 9bb9086167
commit 7ed8e63689
1 changed files with 11 additions and 5 deletions
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16
flight/modules/Actuator/actuator.c
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@ -89,6 +89,7 @@ static xTaskHandle taskHandle;
static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
static SystemSettingsThrustControlOptions thrustType = SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE;
static bool camStabEnabled;
static bool camControlEnabled;
static uint8_t pinsMode[MAX_MIX_ACTUATORS];
// used to inform the actuator thread that actuator update rate is changed
@ -165,8 +166,8 @@ int32_t ActuatorInitialize()
HwSettingsOptionalModulesData optionalModules;
HwSettingsInitialize();
HwSettingsOptionalModulesGet(&optionalModules);
camStabEnabled = (optionalModules.CameraStab == HWSETTINGS_OPTIONALMODULES_ENABLED);
camStabEnabled = (optionalModules.CameraStab == HWSETTINGS_OPTIONALMODULES_ENABLED);
camControlEnabled = (optionalModules.CameraControl == HWSETTINGS_OPTIONALMODULES_ENABLED);
// Primary output of this module
ActuatorCommandInitialize();
@ -471,9 +472,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
status[ct] = cameraDesired.Yaw;
break;
case MIXERSETTINGS_MIXER1TYPE_CAMERATRIGGER:
status[ct] = cameraDesired.Trigger;
break;
default:
break;
}
@ -486,6 +484,14 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
command.Channel[ct] = 0;
}
}
if (mixer_type == MIXERSETTINGS_MIXER1TYPE_CAMERATRIGGER) {
if (camControlEnabled) {
CameraDesiredTriggerGet(&status[ct]);
} else {
status[ct] = 0;
}
}
}
// If mixer type is motor we need to find which motor has the highest value and which motor has the lowest value.