diff options
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 17 |
1 files changed, 9 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 5a834e07f..3a82a5821 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -192,7 +192,7 @@ mixer_tick(void) ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) - /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + /* or failsafe was set manually */ || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) && !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) ) ); @@ -247,6 +247,7 @@ mixer_tick(void) actuator_count = mixed; in_mixer = false; + /* the pwm limit call takes care of out of band errors */ pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) @@ -289,17 +290,17 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servos[i]); /* update S.BUS1 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { sbus1_output(r_page_servos, actuator_count); } /* update S.BUS2 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { sbus2_output(r_page_servos, actuator_count); } /* update safelink outputs */ - if (source != MIX_FAILSAFE && r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { + if (source != MIX_FAILSAFE && r_setup_features & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { safelink_output(r_page_servos, actuator_count); } @@ -309,17 +310,17 @@ mixer_tick(void) up_pwm_servo_set(i, r_page_servo_disarmed[i]); /* update S.BUS1 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) { sbus1_output(r_page_servos, actuator_count); } /* update S.BUS2 outputs */ - if (r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { + if (r_setup_features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) { sbus2_output(r_page_servos, actuator_count); } /* update safelink outputs */ - if (source != MIX_FAILSAFE && r_page_setup[PX4IO_P_SETUP_FEATURES] & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { + if (source != MIX_FAILSAFE && r_setup_features & PX4IO_P_SETUP_FEATURES_SAFELINK_OUT) { safelink_output(r_page_servos, actuator_count); } } @@ -331,7 +332,7 @@ mixer_callback(uintptr_t handle, uint8_t control_index, float &control) { - if (control_group > 3) + if (control_group >= PX4IO_CONTROL_GROUPS) return -1; switch (source) { |