fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-02 00:41:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge Crazyflie motor driver with FMU

Browse Source 
Comment corrections
This commit is contained in:
Dennis Shtatnov
2016-09-04 19:12:08 +02:00
committed by Lorenz Meier
parent e6b98b2ab8
commit e91821d2a2
16 changed files with 159 additions and 1201 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4fmu/fmu.cpp
+28 -7
View File
@@ -1628,10 +1628,18 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_failsafe_pwm[i] = PWM_HIGHEST_MAX;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
}
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_failsafe_pwm[i] = PWM_LOWEST_MIN;
} else {
}
#endif
else {
_failsafe_pwm[i] = pwm->values[i];
}
}
@@ -1676,11 +1684,17 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
/* ignore 0 */
} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
_disarmed_pwm[i] = PWM_HIGHEST_MAX;
}
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_disarmed_pwm[i] = PWM_LOWEST_MIN;
}
} else {
#endif
else {
_disarmed_pwm[i] = pwm->values[i];
}
}
@@ -1726,10 +1740,17 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
} else if (pwm->values[i] > PWM_HIGHEST_MIN) {
_min_pwm[i] = PWM_HIGHEST_MIN;
} else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
}
} else {
#if PWM_LOWEST_MIN > 0
else if (pwm->values[i] < PWM_LOWEST_MIN) {
_min_pwm[i] = PWM_LOWEST_MIN;
}
#endif
else {
_min_pwm[i] = pwm->values[i];
}
}