From c75f71abc2b0f08820e244657d5d4c5acda88ed4 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 26 Apr 2019 18:03:00 +0200 Subject: [PATCH] IO failsafe - apply failsafe values to outputs when in failsafe. This is required because otherwise, IO would output disarmed values if FMU goes into a disarmed state. --- src/modules/px4iofirmware/mixer.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 9ddfa98304..dc30e3b606 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -360,7 +360,8 @@ mixer_tick(void) isr_debug(5, "> PWM disabled"); } - if (mixer_servos_armed && (should_arm || should_arm_nothrottle) + if (mixer_servos_armed + && (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE)) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) { /* update the servo outputs. */ for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {