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prevent alternate flight control group (1) throttle from being active when safety is disabled

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This commit is contained in:
Andreas Antener
2016-03-20 11:19:23 +01:00
parent 4847023cad
commit 6782bdaf69
3 changed files with 9 additions and 4 deletions
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src/modules/px4iofirmware/mixer.cpp
+4 -2
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@@ -396,7 +396,8 @@ mixer_callback(uintptr_t handle,
/* motor spinup phase - lock throttle to zero */
if ((pwm_limit.state == PWM_LIMIT_STATE_RAMP) || (should_arm_nothrottle && !should_arm)) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* limit the throttle output to zero during motor spinup,
* as the motors cannot follow any demand yet
@@ -407,7 +408,8 @@ mixer_callback(uintptr_t handle,
/* only safety off, but not armed - set throttle as invalid */
if (should_arm_nothrottle && !should_arm) {
if (control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE &&
if ((control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE ||
control_group == actuator_controls_s::GROUP_INDEX_ATTITUDE_ALTERNATE) &&
control_index == actuator_controls_s::INDEX_THROTTLE) {
/* mark the throttle as invalid */
control = NAN_VALUE;