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HOTFIX: Allow PWM command to correctly set ARM_OK flag

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Lorenz Meier
2013-06-04 14:13:02 +02:00
parent 40dbd21e11
commit de82295ab5
1 changed files with 6 additions and 0 deletions
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src/systemcmds/pwm/pwm.c
+6
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@@ -185,12 +185,18 @@ pwm_main(int argc, char *argv[])
const char *arg = argv[0];
argv++;
if (!strcmp(arg, "arm")) {
/* tell IO that its ok to disable its safety with the switch */
ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
if (ret != OK)
err(1, "PWM_SERVO_SET_ARM_OK");
/* tell IO that the system is armed (it will output values if safety is off) */
ret = ioctl(fd, PWM_SERVO_ARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_ARM");
continue;
}
if (!strcmp(arg, "disarm")) {
/* disarm, but do not revoke the SET_ARM_OK flag */
ret = ioctl(fd, PWM_SERVO_DISARM, 0);
if (ret != OK)
err(1, "PWM_SERVO_DISARM");