fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 11:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Implement RC and DL failsafe action handling for multirotors

Browse Source 
Move RC and DL failsafe actions handling from navigator to commander (credits to @AndreasAntener)
Separate manual kill switch handling via manual_lockdown to prevent override and release of software lockdown by RC switch

Other changes:
Add failsafe tune
Fix LED blinking for Pixracer
Return back support for rc inputs in simulator but now it is configurable via cmake
This commit is contained in:
Anton Matosov
2016-12-27 00:38:13 +01:00
committed by Lorenz Meier
parent 964dabe179
commit 3a17c07b1e
21 changed files with 579 additions and 211 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+8 -1
View File
@@ -1200,8 +1200,15 @@ PX4FMU::cycle()
_disarmed_pwm, _min_pwm, _max_pwm, outputs, pwm_limited, &_pwm_limit);
/* overwrite outputs in case of force_failsafe with _failsafe_pwm PWM values */
if (_armed.force_failsafe) {
for (size_t i = 0; i < num_outputs; i++) {
pwm_limited[i] = _failsafe_pwm[i];
}
}
/* overwrite outputs in case of lockdown with disarmed PWM values */
if (_armed.lockdown) {
if (_armed.lockdown || _armed.manual_lockdown) {
for (size_t i = 0; i < num_outputs; i++) {
pwm_limited[i] = _disarmed_pwm[i];
}