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px4io: allow 0 as a PWM signal

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This commit is contained in:
Julian Oes
2016-04-21 13:32:38 +02:00
parent d5cc9e0873
commit 482ce55d57
1 changed files with 6 additions and 1 deletions
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src/drivers/px4io/px4io.cpp
+6 -1
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@@ -2656,7 +2656,12 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
/* TODO: we could go lower for e.g. TurboPWM */
unsigned channel = cmd - PWM_SERVO_SET(0);
if ((channel >= _max_actuators) || (arg < PWM_LOWEST_MIN) || (arg > PWM_HIGHEST_MAX)) {
PX4_INFO("pwm is %d (%d, %d)", arg, PWM_LOWEST_MIN, PWM_HIGHEST_MAX);
/* PWM needs to be either 0 or in the valid range. */
if ((arg != 0) && ((channel >= _max_actuators) ||
(arg < PWM_LOWEST_MIN) ||
(arg > PWM_HIGHEST_MAX))) {
ret = -EINVAL;
} else {