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IO failsafe - apply failsafe values to outputs when in failsafe.

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This is required because otherwise, IO would output disarmed values if
FMU goes into a disarmed state.
This commit is contained in:
bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent 96da46d1aa
commit c75f71abc2
1 changed files with 2 additions and 1 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -1
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@@ -360,7 +360,8 @@ mixer_tick(void)
isr_debug(5, "> PWM disabled"); 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)) { && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
/* update the servo outputs. */ /* update the servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {