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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-05-06 22:59:45 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-05-06 22:59:45 +0400 |
| commit | f3e6e4bb50d9d5e63ee423a25713d9033adcebf4 (patch) | |
| tree | ad76e652f05abfa7033c83029c2188dc16d44876 /apps/drivers/px4fmu/fmu.cpp | |
| parent | 012a0bbc0d8b0880fd4cba7e1c7ee5a208101717 (diff) | |
| download | px4-firmware-f3e6e4bb50d9d5e63ee423a25713d9033adcebf4.tar.gz px4-firmware-f3e6e4bb50d9d5e63ee423a25713d9033adcebf4.tar.bz2 px4-firmware-f3e6e4bb50d9d5e63ee423a25713d9033adcebf4.zip | |
Update servo arm only on real change.
Diffstat (limited to 'apps/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index e54724536..761a23c42 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -505,7 +505,11 @@ PX4FMU::task_main() orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); /* 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 |