From ec35e77175cdc71efe7bd8ab5ec52aa1a13750a5 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Mon, 27 Jun 2016 17:31:43 +0200 Subject: [PATCH] px4io driver: fix reporting of mixer limits (#4922) mixer limit topic was not filled correctly Signed-off-by: tumbili --- src/drivers/px4io/px4io.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 66ea188244..7937bcfd40 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1950,7 +1950,9 @@ PX4IO::io_publish_pwm_outputs() /* get mixer status flags from IO */ uint16_t mixer_status; ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &mixer_status, sizeof(mixer_status) / sizeof(uint16_t)); - memcpy(&motor_limits, &mixer_status, sizeof(motor_limits)); + motor_limits.lower_limit = mixer_status & PX4IO_P_STATUS_MIXER_LOWER_LIMIT; + motor_limits.upper_limit = mixer_status & PX4IO_P_STATUS_MIXER_UPPER_LIMIT; + motor_limits.yaw = mixer_status & PX4IO_P_STATUS_MIXER_YAW_LIMIT; if (ret != OK) { return ret;