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px4-firmware
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PWM command: Do not modify disarmed PWM values

This commit is contained in:
Lorenz Meier 2015-02-21 01:17:47 +01:00
parent 4938ff4c29
commit 653b3e71be
1 changed files with 11 additions and 4 deletions
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15
src/systemcmds/pwm/pwm.c
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@ -337,13 +337,19 @@ pwm_main(int argc, char *argv[])
if (pwm_value == 0)
warnx("reading disarmed value of zero, disabling disarmed PWM");
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 0};
struct pwm_output_values pwm_values;
/* first get current state before modifying it */
ret = ioctl(fd, PWM_SERVO_GET_DISARMED_PWM, (long unsigned int)&pwm_values.values);
if (ret != OK) {
errx(ret, "failed get disarmed values");
}
for (unsigned i = 0; i < servo_count; i++) {
if (set_mask & 1<<i) {
pwm_values.values[i] = pwm_value;
if (print_verbose)
warnx("channel %d: disarmed PWM: %d", i+1, pwm_value);
if (print_verbose) {
warnx("chan %d: disarmed PWM: %d", i+1, pwm_value);
}
}
pwm_values.channel_count++;
}
@ -353,8 +359,9 @@ pwm_main(int argc, char *argv[])
} else {
ret = ioctl(fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
if (ret != OK)
if (ret != OK) {
errx(ret, "failed setting disarmed values");
}
}
exit(0);