fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 07:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

minor changes for default options, closing properly all subscriptions in multirotor att control now on exit

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-29 22:33:06 +02:00
parent 7cd89520cc
commit 676daf7c46
3 changed files with 8 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/ardrone_interface/ardrone_motor_control.c
+6 -8
View File
@@ -43,6 +43,7 @@
#include <unistd.h>
#include <drivers/drv_gpio.h>
#include <arch/board/up_hrt.h>
#include <systemlib/err.h>
#include "ardrone_motor_control.h"
@@ -106,22 +107,19 @@ int ar_multiplexing_init()
fd = open(GPIO_DEVICE_PATH, 0);
if (fd < 0) {
printf("GPIO: open fail\n");
warn("GPIO: open fail");
return fd;
}
/* deactivate all outputs */
int ret = 0;
ret += ioctl(fd, GPIO_SET, motor_gpios);
if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
printf("GPIO: output set fail\n");
if (ioctl(fd, GPIO_SET, motor_gpios)) {
warn("GPIO: clearing pins fail");
close(fd);
return -1;
}
if (ret < 0) {
printf("GPIO: clearing pins fail\n");
if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
warn("GPIO: output set fail");
close(fd);
return -1;
}