aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

MotorsUGV: set failsafe output

Browse Source 
This informs the I/O board to stop sending pwm if the I/O board loses
contact with the main CPU
This commit is contained in:
Randy Mackay 2017-07-08 17:47:32 +09:00
parent 25b014524a
commit 6464bfb601
1 changed files with 5 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
APMrover2/AP_MotorsUGV.cpp
View File

@ -256,10 +256,6 @@ void AP_MotorsUGV::setup_safety_output()
// set trim to min to set duty cycle range (0 - 100%) to servo range
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleLeft);
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttleRight);
SRV_Channels::setup_failsafe_trim_all();
}
if (_pwm_type == PWM_TYPE_BRUSHEDBIPOLAR) {
SRV_Channels::setup_failsafe_trim_all();
}
if (_disarm_disable_pwm) {
@ -273,4 +269,9 @@ void AP_MotorsUGV::setup_safety_output()
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
}
// stop sending pwm if main CPU fails
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
}