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tap_esc: reset outputs only when armed really changed (not on each topic update)

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This commit is contained in:
Beat Küng
2016-07-28 08:50:59 +02:00
committed by Lorenz Meier
parent 4045068187
commit c55c978145
1 changed files with 6 additions and 4 deletions
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src/drivers/tap_esc/tap_esc.cpp
+6 -4
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@@ -754,13 +754,15 @@ TAP_ESC::cycle()
if (updated) { if (updated) {
orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed); orb_copy(ORB_ID(actuator_armed), _armed_sub, &_armed);
if (_is_armed != _armed.armed) {
/* reset all outputs */
for (size_t i = 0; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {
_outputs.output[i] = NAN;
}
}
/* do not obey the lockdown value, as lockdown is for PWMSim */ /* do not obey the lockdown value, as lockdown is for PWMSim */
_is_armed = _armed.armed; _is_armed = _armed.armed;
/* reset all outputs */
for (size_t i = 0; i < sizeof(_outputs.output) / sizeof(_outputs.output[0]); i++) {
_outputs.output[i] = NAN;
}
} }