From 4fe0027e7a23fdd425479c98f0167adf596d5743 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 16 May 2014 09:51:23 +0200 Subject: px4io driver: Only try to upload if we have a non-zero failsafe throttle value --- src/drivers/px4io/px4io.cpp | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index da454eb85..4099e5522 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -994,13 +994,17 @@ PX4IO::task_main() int32_t failsafe_param_val; param_t failsafe_param = param_find("RC_FAILS_THR"); - if (failsafe_param > 0) { + if (failsafe_param != PARAM_INVALID) { param_get(failsafe_param, &failsafe_param_val); - uint16_t failsafe_thr = failsafe_param_val; - pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); - if (pret != OK) { - log("failsafe upload failed"); + + if (failsafe_param_val > 0) { + + uint16_t failsafe_thr = failsafe_param_val; + pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); + if (pret != OK) { + log("failsafe upload failed, FS: %d us", (int)failsafe_thr); + } } } -- cgit v1.2.3