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HAL_PX4: do not overwrite disabled channels with zeros

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Fixes #1321
This commit is contained in:
Holger Steinhaus 2014-08-27 11:52:07 +02:00 committed by Andrew Tridgell
parent d34ea4c124
commit e5549c90a1
1 changed files with 16 additions and 1 deletions
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17
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -49,6 +49,12 @@ void PX4RCOutput::init(void* unused)
hal.console->printf("RCOutput: failed to open /dev/px4fmu");
return;
}
// ensure not to write zeros to disabled channels
_enabled_channels = 0;
for (int i=0; i < PX4_NUM_OUTPUT_CHANNELS; i++) {
_period[i] = PWM_IGNORE_THIS_CHANNEL;
}
}
@ -133,18 +139,27 @@ uint16_t PX4RCOutput::get_freq(uint8_t ch)
void PX4RCOutput::enable_ch(uint8_t ch)
{
if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return;
}
else if (ch >= 8 && !(_enabled_channels & (1U<<ch))) {
// this is the first enable of an auxillary channel - setup
// aux channels now. This delayed setup makes it possible to
// use BRD_PWM_COUNT to setup the number of PWM channels.
_init_alt_channels();
}
_enabled_channels |= (1U<<ch);
_period[ch] = 0;
}
void PX4RCOutput::disable_ch(uint8_t ch)
{
if (ch >= PX4_NUM_OUTPUT_CHANNELS) {
return;
}
_enabled_channels &= ~(1U<<ch);
_period[ch] = PWM_IGNORE_THIS_CHANNEL;
}
void PX4RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)