From f8f412fc61108a1b1962bb096b18092ed564c175 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 3 Jul 2015 23:50:47 +0200 Subject: [PATCH 1/2] Commander: Compile fix --- src/modules/commander/commander_helper.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index 0d5abef9ab..68949eec1d 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -386,7 +386,7 @@ float battery_remaining_estimate_voltage(float voltage, float discharged, float /* the range from full to empty is the same for batteries under load and without load, * since the voltage drop applies to both the full and empty state */ - float voltage_range = (bat_v_full - bat_v_empty) + float voltage_range = (bat_v_full - bat_v_empty); float remaining_voltage = (voltage - (bat_n_cells * bat_v_empty_dynamic)) / (bat_n_cells * voltage_range); if (bat_capacity > 0.0f) { From 615affdef9cb84d8c50103bb910265cf41c619c5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 3 Jul 2015 23:51:45 +0200 Subject: [PATCH 2/2] S.BUS Output: deliver the disarmed PWM values --- src/modules/px4iofirmware/mixer.cpp | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index b5d93daea7..0106fa1eb7 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -287,15 +287,18 @@ mixer_tick(void) } else if (mixer_servos_armed && should_always_enable_pwm) { /* set the disarmed servo outputs. */ - for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { up_pwm_servo_set(i, r_page_servo_disarmed[i]); + } /* set S.BUS1 or S.BUS2 outputs */ - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) - sbus1_output(r_page_servos, PX4IO_SERVO_COUNT); + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + sbus1_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT); + } - if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) - sbus2_output(r_page_servos, PX4IO_SERVO_COUNT); + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + sbus2_output(r_page_servo_disarmed, PX4IO_SERVO_COUNT); + } } }