yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merged minimal S.BUS failsafe changes

Browse Source
This commit is contained in:
Lorenz Meier
2014-04-05 11:14:19 +02:00
parent 1d0b2b4aa8 3e4841b6fe
commit 1eb0b19409
2 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
src/drivers/px4io/px4io.cpp
View File

@@ -1499,6 +1499,7 @@ PX4IO::io_publish_raw_rc()
/* we have never seen valid RC signals, abort */
return OK;
}
}
/* lazily advertise on first publication */

10
src/modules/px4iofirmware/controls.c
View File

@@ -251,8 +251,9 @@ controls_tick() {
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
scaled = -scaled;
}
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
@@ -283,8 +284,9 @@ controls_tick() {
/* set un-assigned controls to zero */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i)))
if (!(assigned_channels & (1 << i))) {
r_rc_values[i] = 0;
}
}
/* set RC OK flag, as we got an update */
@@ -377,10 +379,10 @@ controls_tick() {
mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
}