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Update servo arm only on real change.

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Anton Babushkin
2013-05-06 22:59:45 +04:00
parent 012a0bbc0d
commit f3e6e4bb50
1 changed files with 5 additions and 1 deletions
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apps/drivers/px4fmu/fmu.cpp
+5 -1
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@@ -505,7 +505,11 @@ PX4FMU::task_main()
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
/* update PWM servo armed status if armed and not locked down */ /* update PWM servo armed status if armed and not locked down */
up_pwm_servo_arm(aa.armed && !aa.lockdown); bool set_armed = aa.armed && !aa.lockdown;
if (set_armed != _armed) {
_armed = set_armed;
up_pwm_servo_arm(set_armed);
}
} }
// see if we have new PPM input data // see if we have new PPM input data