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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 16:52:35 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 16:52:35 +0100 |
| commit | c311462f3cb4719d4de8e650c78fad225f3eb8b5 (patch) | |
| tree | 05e32a6e274ff496c847a61390d96b23417949a7 /src/modules/px4iofirmware | |
| parent | c46bd8b0413fcaea5b19777bf074f0d65417a47c (diff) | |
| parent | 63d81ba415302c3ed62b4928e6977b4a5da6767b (diff) | |
| download | px4-firmware-c311462f3cb4719d4de8e650c78fad225f3eb8b5.tar.gz px4-firmware-c311462f3cb4719d4de8e650c78fad225f3eb8b5.tar.bz2 px4-firmware-c311462f3cb4719d4de8e650c78fad225f3eb8b5.zip | |
Added actuator control removal
Diffstat (limited to 'src/modules/px4iofirmware')
| -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) { |