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PWMSim: publish disarmed value when not armed

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Matthias Grob
2018-12-28 21:54:13 +01:00
committed by Lorenz Meier
parent 05e45c2867
commit 36248cb12e
1 changed files with 7 additions and 8 deletions
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src/drivers/pwm_out_sim/PWMSim.cpp
+7 -8
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@@ -249,20 +249,19 @@ PWMSim::run()
/* iterate actuators */
for (unsigned i = 0; i < _actuator_outputs.noutputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < _actuator_outputs.noutputs &&
PX4_ISFINITE(_actuator_outputs.output[i]) &&
_actuator_outputs.output[i] >= -1.0f &&
_actuator_outputs.output[i] <= 1.0f) {
const bool sane_mixer_output = PX4_ISFINITE(_actuator_outputs.output[i]) &&
_actuator_outputs.output[i] >= -1.0f &&
_actuator_outputs.output[i] <= 1.0f;
if (_armed && sane_mixer_output) {
/* scale for PWM output 1000 - 2000us */
_actuator_outputs.output[i] = 1500 + (500 * _actuator_outputs.output[i]);
_actuator_outputs.output[i] = math::constrain(_actuator_outputs.output[i], (float)_pwm_min[i], (float)_pwm_max[i]);
} else {
/*
* Value is NaN, INF or out of band - set to the minimum value.
/* Disarmed or insane value - set disarmed pwm value
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
* spinning motors. It would be deadly in flight. */
_actuator_outputs.output[i] = PWM_SIM_DISARMED_MAGIC;
}
}