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APM_OBC: handle separate terminate pin correctly

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Andrew Tridgell committed 2012-09-08 10:07:14 +10:00
1 parent 13145e4c01
commit cca04d195a
1 file changed
+3 -2
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libraries/APM_OBC/APM_OBC.cpp
+3 -2
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@@ -166,8 +166,9 @@ APM_OBC::check(APM_OBC::control_mode mode,
break;
}
// if we are not terminating then toggle the heartbeat pin at 10Hz
if (!_terminate && _heartbeat_pin != -1) {
// if we are not terminating or if there is a separate terminate
// pin configured then toggle the heartbeat pin at 10Hz
if (_heartbeat_pin != -1 && (_terminate_pin != -1 || !_terminate)) {
if (_heartbeat_pin != _last_heartbeat_pin) {
pinMode(_heartbeat_pin, OUTPUT);
_last_heartbeat_pin = _heartbeat_pin;