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S.BUS Output: deliver the disarmed PWM values

This commit is contained in:
Lorenz Meier 2015-07-03 23:51:45 +02:00
parent f8f412fc61
commit 615affdef9
1 changed files with 8 additions and 5 deletions
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13
src/modules/px4iofirmware/mixer.cpp
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@ -287,15 +287,18 @@ mixer_tick(void)
} else if (mixer_servos_armed && should_always_enable_pwm) { } else if (mixer_servos_armed && should_always_enable_pwm) {
/* set the disarmed servo outputs. */ /* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servo_disarmed[i]); up_pwm_servo_set(i, r_page_servo_disarmed[i]);
}
/* set S.BUS1 or S.BUS2 outputs */ /* set S.BUS1 or S.BUS2 outputs */
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) {
sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); sbus1_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT);
}
if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) {
sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); sbus2_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT);
}
} }
} }