From e46d60ba6de3c3809cd7e1e8e1f0485f0290980b Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 15 Nov 2013 11:32:05 +0400 Subject: px4io driver: don’t use PX4IO_PAGE_ACTUATORS page for actuator_controls_effective MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/modules/px4iofirmware/mixer.cpp | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) (limited to 'src/modules/px4iofirmware') diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 05897b4ce..35ef5fcf6 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -185,7 +185,7 @@ mixer_tick(void) r_page_servos[i] = r_page_servo_failsafe[i]; /* safe actuators for FMU feedback */ - r_page_actuators[i] = (r_page_servos[i] - 1500) / 600.0f; + r_page_actuators[i] = FLOAT_TO_REG((r_page_servos[i] - 1500) / 600.0f); } @@ -201,6 +201,10 @@ mixer_tick(void) for (unsigned i = mixed; i < PX4IO_SERVO_COUNT; i++) r_page_servos[i] = 0; + + for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) { + r_page_actuators[i] = FLOAT_TO_REG(outputs[i]); + } } if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { -- cgit v1.2.3