fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 20:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

VTOL: Use correct motor off define

Browse Source
This commit is contained in:
Lorenz Meier
2015-12-29 14:22:37 +01:00
parent 947aa183f6
commit fb3fade653
1 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/tiltrotor.cpp
+7 -7
View File
@@ -428,7 +428,7 @@ void Tiltrotor::set_rear_motor_state(rear_motor_state state)
break; break;
case DISABLED: case DISABLED:
pwm_value = PWM_LOWEST_MAX; pwm_value = PWM_MOTOR_OFF;
_rear_motors = DISABLED; _rear_motors = DISABLED;
break; 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);} if (fd < 0) {PX4_WARN("can't open %s", dev);}
ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count); ret = px4_ioctl(fd, PWM_SERVO_GET_COUNT, (unsigned long)&servo_count);
struct pwm_output_values pwm_values; struct pwm_output_values pwm_max_values;
memset(&pwm_values, 0, sizeof(pwm_values)); memset(&pwm_max_values, 0, sizeof(pwm_max_values));
for (int i = 0; i < _params->vtol_motor_count; i++) { for (int i = 0; i < _params->vtol_motor_count; i++) {
if (is_motor_off_channel(i)) { if (is_motor_off_channel(i)) {
pwm_values.values[i] = pwm_value; pwm_max_values.values[i] = pwm_value;
} else { } 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");} if (ret != OK) {PX4_WARN("failed setting max values");}