diff options
Diffstat (limited to 'apps/ardrone_interface/ardrone_motor_control.c')
| -rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c index d40f0066a..1e4b48c07 100644 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ b/apps/ardrone_interface/ardrone_motor_control.c @@ -118,6 +118,7 @@ int ar_multiplexing_init() return -1; } + /* configure all motor select GPIOs as outputs */ if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) { warn("GPIO: output set fail"); close(fd); @@ -174,8 +175,6 @@ int ar_select_motor(int fd, uint8_t motor) ret += ioctl(fd, GPIO_CLEAR, motor_gpio[motor - 1]); } - fsync(fd); - return ret; } @@ -208,6 +207,9 @@ int ar_init_motors(int ardrone_uart, int gpios) uint8_t initbuf[] = {0xE0, 0x91, 0xA1, 0x00, 0x40}; uint8_t multicastbuf[] = {0xA0, 0xA0, 0xA0, 0xA0, 0xA0, 0xA0}; + /* deselect all motors */ + ar_deselect_motor(gpios, 0); + /* initialize all motors * - select one motor at a time * - configure motor @@ -215,8 +217,6 @@ int ar_init_motors(int ardrone_uart, int gpios) int i; int errcounter = 0; - gpios = ar_multiplexing_init(); - for (i = 1; i < 5; ++i) { /* Initialize motors 1-4 */ initbuf[3] = (uint8_t)i; |