From 6406e235d6f5cb37a914442036111f616b4b3839 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 6 Nov 2014 10:32:21 +1100
Subject: px4io: publish pwm values when STATUS_FLAGS_FMU_OK is not set

this allows testing of FMU failure behaviour in px4io by monitoring
the reported PWM output when the vehicle code stops sending
updates. Otherwise testing needs to be done with "px4io status" which
is very tedious.

With this change a GCS can monitor the PWM outputs from the failsafe
mixer using normal mavlink messages
---
 src/drivers/px4io/px4io.cpp | 4 ----
 1 file changed, 4 deletions(-)

(limited to 'src')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index dc33f7657..6a313b322 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1657,10 +1657,6 @@ PX4IO::io_publish_raw_rc()
 int
 PX4IO::io_publish_pwm_outputs()
 {
-	/* if no FMU comms(!) just don't publish */
-	if (!(_status & PX4IO_P_STATUS_FLAGS_FMU_OK))
-		return OK;
-
 	/* data we are going to fetch */
 	actuator_outputs_s outputs;
 	outputs.timestamp = hrt_absolute_time();
-- 
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