Mirrors_Framework/PX4-Autopilot
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A couple of logic fixes from Tridge.

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This commit is contained in:
px4dev
2013-01-26 16:37:35 -08:00
parent c0a46c4b93
commit 7864176b5a
1 changed files with 9 additions and 7 deletions
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apps/px4io/mixer.cpp
+9 -7
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@@ -91,10 +91,12 @@ mixer_tick(void)
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
debug("AP RX timeout");
}
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
debug("AP RX timeout");
}
source = MIX_FAILSAFE;
@@ -237,17 +239,17 @@ mixer_tick(void)
up_pwm_servo_arm(true);
mixer_servos_armed = true;
/*
* Update the servo outputs.
*/
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
}
if (mixer_servos_armed) {
/* update the servo outputs. */
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
}
}
static int