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multirotor_motor_limits only publish for MC

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This commit is contained in:
Daniel Agar
2017-09-19 02:25:30 +01:00
committed by Nuno Marques
parent 9cacd3f994
commit 26f00609ac
23 changed files with 192 additions and 352 deletions
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src/modules/px4iofirmware/mixer.cpp
+3 -9
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@@ -91,11 +91,7 @@ enum mixer_source {
static volatile mixer_source source;
static int mixer_callback(uintptr_t handle,
uint8_t control_group,
uint8_t control_index,
float &control);
static int mixer_callback(uintptr_t handle, uint8_t control_group, uint8_t control_index, float &control);
static int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits);
static MixerGroup mixer_group(mixer_callback, 0);
@@ -107,10 +103,9 @@ int mixer_mix_threadsafe(float *outputs, volatile uint16_t *limits)
return 0;
}
uint16_t mixer_limits = 0;
in_mixer = true;
int mixcount = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT, &mixer_limits);
*limits = mixer_limits;
int mixcount = mixer_group.mix(&outputs[0], PX4IO_SERVO_COUNT);
*limits = mixer_group.get_saturation_status();
in_mixer = false;
return mixcount;
@@ -600,7 +595,6 @@ mixer_set_failsafe()
}
/* mix */
mixed = mixer_mix_threadsafe(&outputs[0], &r_mixer_limits);
/* scale to PWM and update the servo outputs as required */