From fb3fade653ceefb3f682380fb8be444b363f7b74 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 29 Dec 2015 14:22:37 +0100 Subject: [PATCH] VTOL: Use correct motor off define --- src/modules/vtol_att_control/tiltrotor.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 17b3af75df..41da1d31c2 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -428,7 +428,7 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) break; case DISABLED: - pwm_value = PWM_LOWEST_MAX; + pwm_value = PWM_MOTOR_OFF; _rear_motors = DISABLED; break; @@ -446,21 +446,21 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state) if (fd < 0) {PX4_WARN("can't open %s", dev);} ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); - struct pwm_output_values pwm_values; - memset(&pwm_values, 0, sizeof(pwm_values)); + struct pwm_output_values pwm_max_values; + memset(&pwm_max_values, 0, sizeof(pwm_max_values)); for (int i = 0; i < _params->vtol_motor_count; i++) { if (is_motor_off_channel(i)) { - pwm_values.values[i] = pwm_value; + pwm_max_values.values[i] = pwm_value; } else { - pwm_values.values[i] = PWM_DEFAULT_MAX; + pwm_max_values.values[i] = PWM_DEFAULT_MAX; } - pwm_values.channel_count = _params->vtol_motor_count; + pwm_max_values.channel_count = _params->vtol_motor_count; } - ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values); + ret = px4_ioctl(fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_max_values); if (ret != OK) {PX4_WARN("failed setting max values");}