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HAL_PX4: fixed safety switch light pattern 

this was broken by the recent CAN merge. My fault for not checking it
carefully. We have to publish the armed state so the fmu driver on
pixracer can update the light
This commit is contained in:
Andrew Tridgell 2017-04-24 11:32:33 +10:00 committed by Francisco Ferreira
parent 596b20eb07
commit ca4cde9770
2 changed files with 13 additions and 3 deletions
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8
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -418,6 +418,12 @@ void PX4RCOutput::_arm_actuators(bool arm)
}
_armed.lockdown = false;
_armed.force_failsafe = false;
if (_actuator_armed_pub == nullptr) {
_actuator_armed_pub = orb_advertise(ORB_ID(actuator_armed), &_armed);
} else {
orb_publish(ORB_ID(actuator_armed), _actuator_armed_pub, &_armed);
}
}
void PX4RCOutput::_send_outputs(void)
@ -464,6 +470,8 @@ void PX4RCOutput::_send_outputs(void)
}
}
if (to_send > 0) {
_arm_actuators(true);
::write(_pwm_fd, _period, to_send*sizeof(_period[0]));
}
if (_max_channel > _servo_count) {

8
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -3,6 +3,7 @@
#include "AP_HAL_PX4.h"
#include <systemlib/perf_counter.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#define PX4_NUM_OUTPUT_CHANNELS 16
@ -61,9 +62,10 @@ private:
} _outputs[ORB_MULTI_MAX_INSTANCES] {};
actuator_armed_s _armed;
orb_advert_t _actuator_direct_pub = nullptr;
uint16_t _esc_pwm_min = 0;
uint16_t _esc_pwm_max = 0;
orb_advert_t _actuator_direct_pub;
orb_advert_t _actuator_armed_pub;
uint16_t _esc_pwm_min;
uint16_t _esc_pwm_max;
void _init_alt_channels(void);
void _publish_actuators(void);