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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-15 11:32:05 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-15 11:32:05 +0400 |
| commit | e46d60ba6de3c3809cd7e1e8e1f0485f0290980b (patch) | |
| tree | 9147742716c57d6f7df6f0dc3b81239535b1701a /src/modules/px4iofirmware/mixer.cpp | |
| parent | 2116966b1e481c20eee3fe95f1d8d9671fafc1f2 (diff) | |
| download | px4-firmware-e46d60ba6de3c3809cd7e1e8e1f0485f0290980b.tar.gz px4-firmware-e46d60ba6de3c3809cd7e1e8e1f0485f0290980b.tar.bz2 px4-firmware-e46d60ba6de3c3809cd7e1e8e1f0485f0290980b.zip | |
px4io driver: don’t use PX4IO_PAGE_ACTUATORS page for actuator_controls_effective
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 05897b4ce..35ef5fcf6 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -185,7 +185,7 @@ 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); } @@ -201,6 +201,10 @@ 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) { |