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px4-firmware
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IO firmware: Output a disarmed pulse on lockdown

This commit is contained in:
Lorenz Meier 2016-02-14 19:06:25 +01:00
parent 362e0316f7
commit 59c30a4cbf
1 changed files with 4 additions and 3 deletions
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7
src/modules/px4iofirmware/mixer.cpp
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@ -266,9 +266,9 @@ mixer_tick(void)
/* set arming */
bool needs_to_arm = (should_arm || should_arm_nothrottle || should_always_enable_pwm);
/* check any conditions that prevent arming */
/* lockdown means to send a valid pulse which disables the outputs */
if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) {
needs_to_arm = false;
needs_to_arm = true;
}
if (needs_to_arm && !mixer_servos_armed) {
@ -301,7 +301,8 @@ mixer_tick(void)
sbus1_output(_sbus_fd, r_page_servos, PX4IO_SERVO_COUNT);
}
} else if (mixer_servos_armed && should_always_enable_pwm) {
} else if (mixer_servos_armed && (should_always_enable_pwm
|| (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN))) {
/* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servo_disarmed[i]);