fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 19:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

First try for an ESC calibration tool

Browse Source
This commit is contained in:
Julian Oes
2013-06-20 01:13:49 +02:00
parent 23858a6726
commit 9b6c9358ed
5 changed files with 303 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/mixer.cpp
+8 -5
View File
@@ -270,11 +270,14 @@ mixer_tick(void)
* here.
*/
should_arm = (
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
/* and IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
/* and FMU is armed */ ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* and there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ) )
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
/* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
/* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) )
/* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
/* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
)
);
should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)