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px4io driver: fix reporting of mixer limits (#4922)

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mixer limit topic was not filled correctly

Signed-off-by: tumbili <roman@px4.io>
This commit is contained in:
Roman Bapst
2016-06-27 17:31:43 +02:00
committed by Lorenz Meier
parent 050eedc4f8
commit ec35e77175
1 changed files with 3 additions and 1 deletions
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src/drivers/px4io/px4io.cpp
+3 -1
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@@ -1950,7 +1950,9 @@ PX4IO::io_publish_pwm_outputs()
/* get mixer status flags from IO */ /* get mixer status flags from IO */
uint16_t mixer_status; uint16_t mixer_status;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &mixer_status, sizeof(mixer_status) / sizeof(uint16_t)); 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) { if (ret != OK) {
return ret; return ret;