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px4-firmware
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FMU: Send disarmed pulse if in lockdown

This commit is contained in:
Lorenz Meier 2016-02-15 13:50:34 +01:00
parent 59c30a4cbf
commit 3854eae3ec
1 changed files with 9 additions and 2 deletions
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11
src/drivers/px4fmu/fmu.cpp
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@ -937,6 +937,13 @@ PX4FMU::cycle()
pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
outputs, pwm_limited, &_pwm_limit);
/* overwrite outputs in case of lockdown with disarmed PWM values */
if (_armed.lockdown) {
for (size_t i = 0; i < num_outputs; i++) {
pwm_limited[i] = _disarmed_pwm[i];
}
}
/* output to the servos */
for (size_t i = 0; i < num_outputs; i++) {
pwm_output_set(i, pwm_limited[i]);
@ -953,8 +960,8 @@ PX4FMU::cycle()
if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
_throttle_armed = _armed.armed && !_armed.lockdown;
/* update the armed status */
_throttle_armed = _armed.armed;
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (_armed.armed || _num_disarmed_set > 0);