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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 19:07:24 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-21 19:07:24 +0100 |
| commit | b84c9f962b5c3c4d94e21aeb148dec8ffb42b0c9 (patch) | |
| tree | ed00e4ce697f96763964267a9dc5870b06a1ffa4 /src/modules/px4iofirmware/mixer.cpp | |
| parent | c033443208666d6972d99fe5a7b8e0c3fa5050b5 (diff) | |
| parent | 831f153b7385fecb180c977727eb6b2f8bef1317 (diff) | |
| download | px4-firmware-b84c9f962b5c3c4d94e21aeb148dec8ffb42b0c9.tar.gz px4-firmware-b84c9f962b5c3c4d94e21aeb148dec8ffb42b0c9.tar.bz2 px4-firmware-b84c9f962b5c3c4d94e21aeb148dec8ffb42b0c9.zip | |
Merged master
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 9fc86db5e..e55ef784a 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -195,7 +195,7 @@ mixer_tick(void) r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ - r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f; + r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f); } @@ -211,6 +211,10 @@ mixer_tick(void) for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; + + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { + r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); + } } if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { |