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Plane: pixhawk mixer supports motors 9 to 12

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This commit is contained in:
Randy Mackay 2017-05-24 13:47:02 +09:00
parent 75e770c83c
commit f7e830cfad
1 changed files with 2 additions and 5 deletions
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7
ArduPlane/px4_mixer.cpp
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@ -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