diff options
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 37 |
1 files changed, 37 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 448d2355f..0b8ed6dc5 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -85,6 +85,9 @@ static int mixer_callback(uintptr_t handle, static MixerGroup mixer_group(mixer_callback, 0); +/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */ +static void mixer_set_failsafe(); + void mixer_tick(void) { @@ -243,6 +246,7 @@ mixer_callback(uintptr_t handle, case MIX_FAILSAFE: case MIX_NONE: + control = 0.0f; return -1; } @@ -320,8 +324,41 @@ mixer_handle_text(const void *buffer, size_t length) memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); mixer_text_length = resid; + + /* update failsafe values */ + mixer_set_failsafe(); } break; } } + +static void +mixer_set_failsafe() +{ + /* + * Check if a custom failsafe value has been written, + * else use the opportunity to set decent defaults. + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + return; + + float outputs[IO_SERVO_COUNT]; + unsigned mixed; + + /* mix */ + mixed = mixer_group.mix(&outputs[0], IO_SERVO_COUNT); + + /* scale to PWM and update the servo outputs as required */ + for (unsigned i = 0; i < mixed; i++) { + + /* scale to servo output */ + r_page_servo_failsafe[i] = (outputs[i] * 600.0f) + 1500; + + } + + /* disable the rest of the outputs */ + for (unsigned i = mixed; i < IO_SERVO_COUNT; i++) + r_page_servo_failsafe[i] = 0; + +} |