fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 00:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4io: improve multi-rotor motor saturation status reporting

Browse Source
This commit is contained in:
Paul Riseborough
2016-12-13 16:14:15 +01:00
committed by Lorenz Meier
parent 57a6faf8a2
commit efb7131186
1 changed files with 1 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+1 -3
View File
@@ -2046,9 +2046,7 @@ 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));
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;
motor_limits.saturation_status = mixer_status;
if (ret != OK) {
return ret;