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| author | Julian Oes <julian@oes.ch> | 2013-11-29 12:39:29 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-29 12:39:29 +0100 |
| commit | 07a3f5694c20ccfae1d949766eca6bd5f60bf0f6 (patch) | |
| tree | 9b690ddb377d3b6c93b87c873733d165c3bffb6e /src/drivers | |
| parent | 5c83af3868aaaed20f31f28cbc296fb249dca566 (diff) | |
| parent | 3c2133b9f1af370638cee82d6cda0b31df15dffe (diff) | |
| download | px4-firmware-07a3f5694c20ccfae1d949766eca6bd5f60bf0f6.tar.gz px4-firmware-07a3f5694c20ccfae1d949766eca6bd5f60bf0f6.tar.bz2 px4-firmware-07a3f5694c20ccfae1d949766eca6bd5f60bf0f6.zip | |
Merge remote-tracking branch 'juchlid/bottledrop' into bottle_drop_navigator
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 0441566e9..38cfce2e9 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -542,7 +542,8 @@ PX4FMU::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* can we mix? */ if (_mixers != nullptr) { @@ -586,6 +587,9 @@ PX4FMU::task_main() uint16_t pwm_limited[num_outputs]; + // XXX: hack: always armed + _armed = true; + pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); /* output actual limited values */ |