From 78b9af0968181037de7dab2ff2e6335edc4bc32d Mon Sep 17 00:00:00 2001
From: Eric Parsonage <eric@eparsonage.com>
Date: Fri, 6 Aug 2010 17:52:25 +0000
Subject: [PATCH] fixed KILL_MOTORS cflag to work with MKK speed controllers
 and Lisa board

---
 .../booz/arch/stm32/actuators/booz_actuators_mkk_arch.c   | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c b/sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c
index e4bd8f3aab..df3b43363b 100644
--- a/sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c
+++ b/sw/airborne/booz/arch/stm32/actuators/booz_actuators_mkk_arch.c
@@ -48,8 +48,12 @@ void tim2_irq_handler(void) {
   /* Clear TIM2 update interrupt */
   TIM_ClearITPendingBit(TIM2, TIM_IT_Update);
   actuators_mkk.idx++;							
-  if (actuators_mkk.idx<ACTUATORS_MKK_NB) {				
-    DeviceBuf[0] = supervision.commands[actuators_mkk.idx];		
+  if (actuators_mkk.idx<ACTUATORS_MKK_NB) {
+#ifdef KILL_MOTORS
+    DeviceBuf[0] = 0;
+#else
+    DeviceBuf[0] = supervision.commands[actuators_mkk.idx];
+#endif						
     DeviceTransmit(actuators_addr[actuators_mkk.idx], 1, &actuators_mkk.i2c_done);
   }								
   else {