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Added actuator control removal

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Lorenz Meier
2013-12-13 16:52:35 +01:00
parent c46bd8b041 63d81ba415
commit c311462f3c
9 changed files with 41 additions and 200 deletions
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src/modules/px4iofirmware/mixer.cpp
+5 -1
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@@ -185,7 +185,7 @@ mixer_tick(void)
r_page_servos[i] = r_page_servo_failsafe[i];
/* safe actuators for FMU feedback */
r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f;
r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f);
}
@@ -201,6 +201,10 @@ mixer_tick(void)
for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++)
r_page_servos[i] = 0;
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
r_page_actuators[i] = FLOAT_TO_REG(outputs[i]);
}
}
if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {