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Fixed actuator_controls_effective on FMU

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This commit is contained in:
Anton Babushkin
2013-11-16 16:06:23 +04:00
parent e46d60ba6d
commit 45e158b88c
1 changed files with 4 additions and 3 deletions
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src/drivers/px4fmu/fmu.cpp
+4 -3
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@@ -542,7 +542,7 @@ PX4FMU::task_main()
if (fds[0].revents & POLLIN) { if (fds[0].revents & POLLIN) {
/* get controls - must always do this to avoid spinning */ /* get controls - must always do this to avoid spinning */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls);
/* can we mix? */ /* can we mix? */
if (_mixers != nullptr) { if (_mixers != nullptr) {
@@ -589,8 +589,9 @@ PX4FMU::task_main()
pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit);
/* output actual limited values */ /* output actual limited values */
for (unsigned i = 0; i < num_outputs; i++) { // XXX copy control values as is, need to do backward mixing of actual limited values properly
controls_effective.control_effective[i] = (float)pwm_limited[i]; for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) {
controls_effective.control_effective[i] = _controls.control[i];
} }
orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective);