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[rotorcraft] fwb: properly protect FBW_MODE_LED

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This commit is contained in:
Felix Ruess
2016-03-24 14:58:16 +01:00
parent d8e032b29c
commit 8ec11d58e1
1 changed files with 2 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/main_fbw.c
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@@ -184,11 +184,13 @@ STATIC_INLINE void main_periodic(void)
/* set failsafe commands */ /* set failsafe commands */
if (fbw_mode == FBW_MODE_FAILSAFE) { if (fbw_mode == FBW_MODE_FAILSAFE) {
SetCommands(commands_failsafe); SetCommands(commands_failsafe);
#ifdef FBW_MODE_LED
if (!(dv++ % (PERIODIC_FREQUENCY / 20))) { LED_TOGGLE(FBW_MODE_LED);} if (!(dv++ % (PERIODIC_FREQUENCY / 20))) { LED_TOGGLE(FBW_MODE_LED);}
} else if (fbw_mode == FBW_MODE_MANUAL) { } else if (fbw_mode == FBW_MODE_MANUAL) {
if (!(dv++ % (PERIODIC_FREQUENCY))) { LED_TOGGLE(FBW_MODE_LED);} if (!(dv++ % (PERIODIC_FREQUENCY))) { LED_TOGGLE(FBW_MODE_LED);}
} else if (fbw_mode == FBW_MODE_AUTO) { } else if (fbw_mode == FBW_MODE_AUTO) {
LED_TOGGLE(FBW_MODE_LED); // toggle instead of on, because then it is still visible when fbw_mode switches very fast LED_TOGGLE(FBW_MODE_LED); // toggle instead of on, because then it is still visible when fbw_mode switches very fast
#endif // FWB_MODE_LED
} }
/* set actuators */ /* set actuators */