From 9bb819b8013b40db296cea7e9551d8c6a6303a00 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 16 Dec 2015 16:38:27 +0000 Subject: [PATCH] Fix usage of PWM defines in VTOL app --- src/modules/vtol_att_control/vtol_att_control_main.cpp | 2 +- src/modules/vtol_att_control/vtol_type.cpp | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index b9c2d64fe2..f21ed3fe52 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -104,7 +104,7 @@ VtolAttitudeControl::VtolAttitudeControl() : memset(&_batt_status, 0, sizeof(_batt_status)); memset(&_vehicle_cmd, 0, sizeof(_vehicle_cmd)); - _params.idle_pwm_mc = PWM_LOWEST_MIN; + _params.idle_pwm_mc = PWM_DEFAULT_MIN; _params.vtol_motor_count = 0; _params.vtol_fw_permanent_stab = 0; diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 0120cadc84..2f361eb8f4 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -117,13 +117,12 @@ void VtolType::set_idle_fw() if (fd < 0) {PX4_WARN("can't open %s", dev);} - unsigned pwm_value = PWM_LOWEST_MIN; struct pwm_output_values pwm_values; memset(&pwm_values, 0, sizeof(pwm_values)); for (int i = 0; i < _params->vtol_motor_count; i++) { - pwm_values.values[i] = pwm_value; + pwm_values.values[i] = PWM_MOTOR_OFF; pwm_values.channel_count++; }