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| author | px4dev <px4@purgatory.org> | 2013-05-19 21:51:35 +0200 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-05-19 21:51:35 +0200 |
| commit | b7d430e3c06c10411419bfc8bfb30574f7a9cb56 (patch) | |
| tree | 994a105907415d5b6d877c436126410b25562aa4 /src/drivers/px4fmu/fmu.cpp | |
| parent | c6b7eb1224426d9ec2e6d59a3df4c7443449109a (diff) | |
| parent | 504b6d12561d68874ded4c1f747c21926a065045 (diff) | |
| download | px4-firmware-b7d430e3c06c10411419bfc8bfb30574f7a9cb56.tar.gz px4-firmware-b7d430e3c06c10411419bfc8bfb30574f7a9cb56.tar.bz2 px4-firmware-b7d430e3c06c10411419bfc8bfb30574f7a9cb56.zip | |
Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup
Fix px4iov2 build issue by selecting the correct NuttX config.
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index d3865f053..e199a5998 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -574,7 +574,11 @@ 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); + } } #ifdef FMU_HAVE_PPM @@ -675,6 +679,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(true); break; + case PWM_SERVO_SET_ARM_OK: + case PWM_SERVO_CLEAR_ARM_OK: + // these are no-ops, as no safety switch + break; + case PWM_SERVO_DISARM: up_pwm_servo_arm(false); break; |