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HAL_PX4: allow sbus output on channels beyond BRD_PWM_COUNT

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This commit is contained in:
Andrew Tridgell 2016-04-13 18:24:31 +10:00
parent 759b0d6629
commit 5922e67785
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -254,7 +254,7 @@ void PX4RCOutput::force_safety_off(void)
void PX4RCOutput::write(uint8_t ch, uint16_t period_us) void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
{ {
if (ch >= _servo_count + _alt_servo_count) { if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return; return;
} }
if (!(_enabled_channels & (1U<<ch))) { if (!(_enabled_channels & (1U<<ch))) {
@ -418,7 +418,9 @@ void PX4RCOutput::_send_outputs(void)
if (n > _alt_servo_count) { if (n > _alt_servo_count) {
n = _alt_servo_count; n = _alt_servo_count;
} }
::write(_alt_fd, &_period[_servo_count], n*sizeof(_period[0])); if (n > 0) {
::write(_alt_fd, &_period[_servo_count], n*sizeof(_period[0]));
}
} }
} }