diff options
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index d3865f053..e199a5998 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -574,7 +574,11 @@ PX4FMU::task_main() orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); /* update PWM servo armed status if armed and not locked down */ - up_pwm_servo_arm(aa.armed && !aa.lockdown); + bool set_armed = aa.armed && !aa.lockdown; + if (set_armed != _armed) { + _armed = set_armed; + up_pwm_servo_arm(set_armed); + } } #ifdef FMU_HAVE_PPM @@ -675,6 +679,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(true); break; + case PWM_SERVO_SET_ARM_OK: + case PWM_SERVO_CLEAR_ARM_OK: + // these are no-ops, as no safety switch + break; + case PWM_SERVO_DISARM: up_pwm_servo_arm(false); break; |