Mirrors_Framework/PX4-Autopilot
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Don't try to mix if we have no mixer installed.

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px4dev
2012-08-11 10:34:02 -07:00
parent 4eef4e1864
commit 42ace38e31
1 changed files with 12 additions and 8 deletions
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apps/px4/fmu/fmu.cpp
+12 -8
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@@ -226,7 +226,7 @@ FMUServo::task_main()
while (!_task_should_exit) {
/* sleep waiting for data, but no more than 100ms */
int ret = ::poll(&fds[0], 2, 100);
int ret = ::poll(&fds[0], 2, 1000);
/* this would be bad... */
if (ret < 0) {
@@ -239,17 +239,21 @@ FMUServo::task_main()
if (fds[0].revents & POLLIN) {
float outputs[num_outputs];
/* get controls */
/* get controls - must always do this to avoid spinning */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls);
/* do mixing */
_mixers->mix(&outputs[0], num_outputs);
/* can we mix? */
if (_mixers != nullptr) {
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* do mixing */
_mixers->mix(&outputs[0], num_outputs);
/* scale for PWM output 900 - 2100us */
up_pwm_servo_set(i, 1500 + (600 * outputs[i]));
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* scale for PWM output 900 - 2100us */
up_pwm_servo_set(i, 1500 + (600 * outputs[i]));
}
}
}