From f7e830cfad37933fab9e63898165b0a0e57f33cb Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 24 May 2017 13:47:02 +0900 Subject: [PATCH] Plane: pixhawk mixer supports motors 9 to 12 --- ArduPlane/px4_mixer.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/ArduPlane/px4_mixer.cpp b/ArduPlane/px4_mixer.cpp index d5915de15b..ab39d8080e 100644 --- a/ArduPlane/px4_mixer.cpp +++ b/ArduPlane/px4_mixer.cpp @@ -354,8 +354,7 @@ bool Plane::setup_failsafe_mixing(void) } for (uint8_t i = 0; i < pwm_values.channel_count; i++) { - if (SRV_Channels::channel_function(i) >= SRV_Channel::k_motor1 && - SRV_Channels::channel_function(i) <= SRV_Channel::k_motor8) { + if (SRV_Channel::is_motor(SRV_Channels::channel_function(i))) { pwm_values.values[i] = quadplane.thr_min_pwm; } else { pwm_values.values[i] = 900; @@ -367,8 +366,7 @@ bool Plane::setup_failsafe_mixing(void) } for (uint8_t i = 0; i < pwm_values.channel_count; i++) { - if (SRV_Channels::channel_function(i) >= SRV_Channel::k_motor1 && - SRV_Channels::channel_function(i) <= SRV_Channel::k_motor8) { + if (SRV_Channel::is_motor(SRV_Channels::channel_function(i))) { hal.rcout->write(i, quadplane.thr_min_pwm); pwm_values.values[i] = quadplane.thr_min_pwm; } else { @@ -416,5 +414,4 @@ failed: return ret; } - #endif // CONFIG_HAL_BOARD