diff options
Diffstat (limited to 'src/drivers/hil/hil.cpp')
| -rw-r--r-- | src/drivers/hil/hil.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp index bd027ce0b..c1d73dd87 100644 --- a/src/drivers/hil/hil.cpp +++ b/src/drivers/hil/hil.cpp @@ -75,6 +75,7 @@ #include <systemlib/mixer/mixer.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_armed.h> #include <uORB/topics/actuator_outputs.h> #include <systemlib/err.h> @@ -403,7 +404,7 @@ HIL::task_main() for (unsigned i = 0; i < num_outputs; i++) { /* last resort: catch NaN, INF and out-of-band errors */ - if (i < (unsigned)outputs.noutputs && + if (i < outputs.noutputs && isfinite(outputs.output[i]) && outputs.output[i] >= -1.0f && outputs.output[i] <= 1.0f) { @@ -516,7 +517,7 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg) g_hil->set_pwm_rate(arg); break; - case PWM_SERVO_SELECT_UPDATE_RATE: + case PWM_SERVO_SET_SELECT_UPDATE_RATE: // HIL always outputs at the alternate (usually faster) rate break; |