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Merge pull request #3441 from kd0aij/fmu_pwm_limit 

Fmu pwm limit
This commit is contained in:
Lorenz Meier 2016-01-06 10:02:43 +01:00
parent 268990f216 f18afc47cb
commit 857701daa1
1 changed files with 5 additions and 9 deletions
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14
src/drivers/px4fmu/fmu.cpp
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@ -138,7 +138,7 @@ private:
int _dsm_fd;
volatile bool _initialized;
bool _servo_armed;
bool _throttle_armed;
bool _pwm_on;
MixerGroup *_mixers;
@ -283,7 +283,7 @@ PX4FMU::PX4FMU() :
_sbus_fd(-1),
_dsm_fd(-1),
_initialized(false),
_servo_armed(false),
_throttle_armed(false),
_pwm_on(false),
_mixers(nullptr),
_groups_required(0),
@ -769,7 +769,7 @@ PX4FMU::cycle()
uint16_t pwm_limited[_max_actuators];
/* the PWM limit call takes care of out of band errors, NaN and constrains */
pwm_limit_calc(_servo_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
pwm_limit_calc(_throttle_armed, arm_nothrottle(), num_outputs, _reverse_pwm_mask, _disarmed_pwm, _min_pwm, _max_pwm,
outputs, pwm_limited, &_pwm_limit);
/* output to the servos */
@ -789,14 +789,10 @@ PX4FMU::cycle()
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
/* update the armed status and check that we're not locked down */
bool set_armed = (_armed.armed || _armed.prearmed) && !_armed.lockdown;
if (_servo_armed != set_armed) {
_servo_armed = set_armed;
}
_throttle_armed = _armed.armed && !_armed.lockdown;
/* update PWM status if armed or if disarmed PWM values are set */
bool pwm_on = (set_armed || _num_disarmed_set > 0);
bool pwm_on = (_armed.armed || _num_disarmed_set > 0);
if (_pwm_on != pwm_on) {
_pwm_on = pwm_on;