diff options
Diffstat (limited to 'apps/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | apps/drivers/px4fmu/fmu.cpp | 21 |
1 files changed, 18 insertions, 3 deletions
diff --git a/apps/drivers/px4fmu/fmu.cpp b/apps/drivers/px4fmu/fmu.cpp index 285516ed9..a672bd2fb 100644 --- a/apps/drivers/px4fmu/fmu.cpp +++ b/apps/drivers/px4fmu/fmu.cpp @@ -58,6 +58,7 @@ #include <drivers/drv_pwm_output.h> #include <drivers/drv_gpio.h> #include <drivers/boards/px4fmu/px4fmu_internal.h> +#include <drivers/drv_hrt.h> #include <systemlib/systemlib.h> #include <systemlib/err.h> @@ -382,7 +383,8 @@ PX4FMU::task_main() if (_mixers != nullptr) { /* do mixing */ - _mixers->mix(&outputs.output[0], num_outputs); + outputs.noutputs = _mixers->mix(&outputs.output[0], num_outputs); + outputs.timestamp = hrt_absolute_time(); // XXX output actual limited values memcpy(&controls_effective, &_controls, sizeof(controls_effective)); @@ -392,8 +394,21 @@ PX4FMU::task_main() /* iterate actuators */ for (unsigned i = 0; i < num_outputs; i++) { - /* scale for PWM output 900 - 2100us */ - outputs.output[i] = 1500 + (600 * outputs.output[i]); + /* last resort: catch NaN, INF and out-of-band errors */ + if (i < outputs.noutputs && + isfinite(outputs.output[i]) && + outputs.output[i] >= -1.0f && + outputs.output[i] <= 1.0f) { + /* scale for PWM output 900 - 2100us */ + outputs.output[i] = 1500 + (600 * outputs.output[i]); + } else { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + outputs.output[i] = 900; + } /* output to the servo */ up_pwm_servo_set(i, outputs.output[i]); |