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HIL driver: Output zero like the other actuator drivers do when not armed

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Lorenz Meier
2015-07-02 10:47:33 +02:00
parent 20992b1437
commit 20de4aaaa5
1 changed files with 8 additions and 2 deletions
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src/drivers/hil/hil.cpp
+8 -2
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -454,6 +454,7 @@ HIL::task_main()
/* get new value */ /* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
_armed = aa.armed && !aa.lockdown;
} }
} }
@@ -477,7 +478,12 @@ HIL::control_callback(uintptr_t handle,
{ {
const actuator_controls_s *controls = (actuator_controls_s *)handle; const actuator_controls_s *controls = (actuator_controls_s *)handle;
input = controls->control[control_index]; if (_armed) {
input = controls->control[control_index];
} else {
/* clamp actuator to zero if not armed */
input = 0.0f;
}
return 0; return 0;
} }