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Sub: use cork/push wrapper

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This commit is contained in:
Andrew Tridgell 2017-11-03 13:35:14 +11:00
parent 23b20307af
commit b16ae19bce
1 changed files with 2 additions and 2 deletions
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4
ArduSub/GCS_Mavlink.cpp
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@ -1229,12 +1229,12 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
// For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
hal.rcout->cork();
SRV_Channels::cork();
for (int i=0; i<NUM_RC_CHANNELS; i++) {
// Set to 1 because 0 is interpreted as flag to ignore update
hal.rcout->write(i, 1);
}
hal.rcout->push();
SRV_Channels::push();
result = MAV_RESULT_ACCEPTED;
// send ack before we reboot