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| author | px4dev <px4@purgatory.org> | 2013-01-25 22:58:33 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-25 22:58:33 -0800 |
| commit | b46d05835b9ff55c1f21d37483202888eeea1656 (patch) | |
| tree | bc0200d6a1a528058a94b9af8ecd815980eaf885 /apps/px4io/mixer.cpp | |
| parent | 900b0d58ef62d1ff1406a312ac88317152f0312a (diff) | |
| download | px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.tar.gz px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.tar.bz2 px4-firmware-b46d05835b9ff55c1f21d37483202888eeea1656.zip | |
Implement settable failsafe values for PWM outputs.
By default in failsafe mode, PWM output pulses are not generated.
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 17 |
1 files changed, 13 insertions, 4 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 1c7a05343..91a914575 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -92,7 +92,7 @@ mixer_tick(void) /* too long without FMU input, time to go to failsafe */ r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PPM); + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; debug("AP RX timeout"); } @@ -102,7 +102,7 @@ mixer_tick(void) /* * Decide which set of controls we're using. */ - if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PPM) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) { /* don't actually mix anything - we already have raw PWM values */ source = MIX_NONE; @@ -127,7 +127,13 @@ mixer_tick(void) /* * Run the mixers. */ - if (source != MIX_NONE) { + if (source == MIX_FAILSAFE) { + + /* copy failsafe values to the servo outputs */ + for (unsigned i = 0; i < IO_SERVO_COUNT; i++) + r_page_servos[i] = r_page_servo_failsafe[i]; + + } else if (source != MIX_NONE) { float outputs[IO_SERVO_COUNT]; unsigned mixed; @@ -225,9 +231,12 @@ mixer_tick(void) * * We must be armed, and we must have a PWM source; either raw from * FMU or from the mixer. + * + * XXX correct behaviour for failsafe may require an additional case + * here. */ bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PPM | PX4IO_P_STATUS_FLAGS_MIXER_OK))); + (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |