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Adds Navio Kill Switch Logic (#5461)

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This commit is contained in:
Miguel Arroyo
2016-09-07 02:17:41 -04:00
committed by Lorenz Meier
parent 06bfecd829
commit 8dfbb43e00
1 changed files with 7 additions and 1 deletions
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src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
+7 -1
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@@ -360,7 +360,13 @@ void task_main(int argc, char *argv[])
pwm, pwm,
&_pwm_limit); &_pwm_limit);
send_outputs_pwm(pwm);
if (_armed.lockdown) {
send_outputs_pwm(disarmed_pwm);
} else {
send_outputs_pwm(pwm);
}
if (_outputs_pub != nullptr) { if (_outputs_pub != nullptr) {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs); orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);