fly316/PX4-Autopilot
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Only update the servo output values when we are armed.

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px4dev 2013-01-26 13:16:24 -08:00
parent 4ea8a64b39
commit 4ab490bd50
1 changed files with 6 additions and 6 deletions
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12
apps/px4io/mixer.cpp
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@ -220,12 +220,6 @@ mixer_tick(void)
}
#endif
/*
* Update the servo outputs.
*/
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
/*
* Decide whether the servos should be armed right now.
*
@ -243,6 +237,12 @@ mixer_tick(void)
up_pwm_servo_arm(true);
mixer_servos_armed = true;
/*
* Update the servo outputs.
*/
for (unsigned i = 0; i < IO_SERVO_COUNT; i++)
up_pwm_servo_set(i, r_page_servos[i]);
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);