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rpi_pwm_out: fix mixing output handling (use correct number of outputs)

This commit is contained in:
Beat Küng 2017-05-08 13:08:27 +02:00
parent b6942115e1
commit 51dc988914
1 changed files with 7 additions and 9 deletions
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16
src/drivers/rpi_pwm_out/rpi_pwm_out.cpp
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@ -261,28 +261,26 @@ void task_main(int argc, char *argv[])
_outputs.timestamp = hrt_absolute_time();
/* do mixing */
_outputs.noutputs = _mixer_group->mix(_outputs.output,
_outputs.NUM_ACTUATOR_OUTPUTS,
actuator_outputs_s::NUM_ACTUATOR_OUTPUTS,
NULL);
/* disable unused ports by setting their output to NaN */
for (size_t i = _outputs.noutputs;
i < _outputs.NUM_ACTUATOR_OUTPUTS;
i++) {
for (size_t i = _outputs.noutputs; i < _outputs.NUM_ACTUATOR_OUTPUTS; i++) {
_outputs.output[i] = NAN;
}
const uint16_t reverse_mask = 0;
uint16_t disarmed_pwm[4];
uint16_t min_pwm[4];
uint16_t max_pwm[4];
uint16_t disarmed_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
uint16_t min_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
uint16_t max_pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int i = 0; i < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS; i++) {
disarmed_pwm[i] = _pwm_disarmed;
min_pwm[i] = _pwm_min;
max_pwm[i] = _pwm_max;
}
uint16_t pwm[4];
uint16_t pwm[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS];
// TODO FIXME: pre-armed seems broken
pwm_limit_calc(_armed.armed,