diff options
Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index b878d29bc..eea235943 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -540,7 +540,8 @@ PX4FMU::task_main() if (fds[0].revents & POLLIN) { /* get controls - must always do this to avoid spinning */ - orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls); + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1), _t_actuators, &_controls); /* can we mix? */ if (_mixers != nullptr) { @@ -587,6 +588,9 @@ PX4FMU::task_main() uint16_t pwm_limited[num_outputs]; + // XXX: hack: always armed + _armed = true; + pwm_limit_calc(_armed, num_outputs, _disarmed_pwm, _min_pwm, _max_pwm, outputs.output, pwm_limited, &_pwm_limit); /* output to the servos */ |