diff options
Diffstat (limited to 'apps/px4io/comms.c')
| -rw-r--r-- | apps/px4io/comms.c | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 0fcf952ab..9a786234e 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -183,7 +183,7 @@ comms_handle_command(const void *buffer, size_t length) system_state.vector_flight_mode_ok = cmd->vector_flight_mode_ok; system_state.manual_override_ok = cmd->manual_override_ok; system_state.mixer_fmu_available = true; - system_state.fmu_data_received = true; + system_state.fmu_data_received_time = hrt_absolute_time(); /* set PWM update rate if changed (after limiting) */ uint16_t new_servo_rate = cmd->servo_rate; @@ -201,6 +201,9 @@ comms_handle_command(const void *buffer, size_t length) system_state.servo_rate = new_servo_rate; } + /* update servo values immediately */ + mixer_tick(); + /* XXX do relay changes here */ for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) { system_state.relays[i] = cmd->relay_state[i]; |