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tap_esc: handle lockdown & manual_lockdown -> kill switch

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This commit is contained in:
Beat Küng
2017-04-06 10:40:03 +02:00
committed by Lorenz Meier
parent 96c40d3ce9
commit 4d62dd893b
1 changed files with 3 additions and 4 deletions
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src/drivers/tap_esc/tap_esc.cpp
+3 -4
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@@ -665,15 +665,15 @@ TAP_ESC::cycle()
/* iterate actuators */
for (unsigned i = 0; i < num_outputs; i++) {
/* last resort: catch NaN, INF and out-of-band errors */
if (i < _outputs.noutputs &&
PX4_ISFINITE(_outputs.output[i])) {
if (i < _outputs.noutputs && PX4_ISFINITE(_outputs.output[i])
&& !_armed.lockdown && !_armed.manual_lockdown) {
/* scale for PWM output 1200 - 1900us */
_outputs.output[i] = (RPMMAX + RPMMIN) / 2 + ((RPMMAX - RPMMIN) / 2) * _outputs.output[i];
math::constrain(_outputs.output[i], (float)RPMMIN, (float)RPMMAX);
} else {
/*
* Value is NaN, INF - stop the motor.
* Value is NaN, INF, or we are in lockdown - stop the motor.
* This will be clearly visible on the servo status and will limit the risk of accidentally
* spinning motors. It would be deadly in flight.
*/
@@ -787,7 +787,6 @@ TAP_ESC::cycle()
}
}
/* do not obey the lockdown value, as lockdown is for PWMSim */
_is_armed = _armed.armed;
}