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mixer_module: more robust logic to set 'stop_motors' flag

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Checking the first output_limited for a disarmed value is fragile.
For example a disarmed value might be within the range of min/max output
values and could then be triggered while armed.
This commit is contained in:
Beat Küng
2019-10-14 12:23:02 +02:00
parent 177da1f923
commit 72a8be538a
1 changed files with 3 additions and 6 deletions
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src/lib/mixer_module/mixer_module.cpp
+3 -6
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@@ -285,18 +285,15 @@ bool MixingOutput::update()
} }
} }
bool stop_motors = mixed_num_outputs == 0 || !_throttle_armed;
/* overwrite outputs in case of lockdown or parachute triggering with disarmed values */ /* overwrite outputs in case of lockdown or parachute triggering with disarmed values */
if (_armed.lockdown || _armed.manual_lockdown) { if (_armed.lockdown || _armed.manual_lockdown) {
for (size_t i = 0; i < mixed_num_outputs; i++) { for (size_t i = 0; i < mixed_num_outputs; i++) {
output_limited[i] = _disarmed_value[i]; output_limited[i] = _disarmed_value[i];
} }
}
bool stop_motors = true; stop_motors = true;
if (mixed_num_outputs > 0) {
/* assume if one (here the 1.) motor is disarmed, all of them should be stopped */
stop_motors = (output_limited[0] == _disarmed_value[0]);
} }
/* apply _param_mot_ordering */ /* apply _param_mot_ordering */