mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
Plane: fixed disarmed throttle in HIL
This commit is contained in:
parent
776b999f43
commit
c16e3a035f
@ -855,16 +855,6 @@ static void set_servos(void)
|
||||
channel_rudder->radio_out = channel_rudder->radio_in;
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED
|
||||
// get the servos to the GCS immediately for HIL
|
||||
if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN) {
|
||||
send_radio_out(MAVLINK_COMM_0);
|
||||
}
|
||||
if (!g.hil_servos) {
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (g.vtail_output != MIXING_DISABLED) {
|
||||
channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
|
||||
} else if (g.elevon_output != MIXING_DISABLED) {
|
||||
@ -889,6 +879,16 @@ static void set_servos(void)
|
||||
}
|
||||
}
|
||||
|
||||
#if HIL_MODE != HIL_MODE_DISABLED
|
||||
// get the servos to the GCS immediately for HIL
|
||||
if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN) {
|
||||
send_servo_out(MAVLINK_COMM_0);
|
||||
}
|
||||
if (!g.hil_servos) {
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
|
||||
// send values to the PWM timers for output
|
||||
// ----------------------------------------
|
||||
channel_roll->output();
|
||||
|
Loading…
Reference in New Issue
Block a user