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px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs

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If the output is set to 0 then the FMU had this channel disabled/no function mapped
to it. In that case we do not want to suddenly start outputing failsafe or disarmed
signals.
This commit is contained in:
Matthias Grob
2024-03-25 19:21:54 +01:00
parent 999a71c4dd
commit 1096384a38
15 changed files with 8 additions and 4 deletions
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src/modules/px4iofirmware/mixer.cpp
+8 -4
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@@ -180,15 +180,19 @@ mixer_tick()
* Run the mixers.
*/
if (source == MIX_FAILSAFE) {
/* copy failsafe values to the servo outputs */
// Set failsafe value if the PWM output isn't disabled
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_failsafe[i];
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_failsafe[i];
}
}
} else if (source == MIX_DISARMED) {
/* copy disarmed values to the servo outputs */
// Set disarmed value if the PWM output isn't disabled
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_servos[i] = r_page_servo_disarmed[i];
if (r_page_servos[i] != 0) {
r_page_servos[i] = r_page_servo_disarmed[i];
}
}
}