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ensure PWM_DISARMED value is sent to ESCs if snapdragon does not send anything else

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This commit is contained in:
Nicolas de Palezieux
2016-04-25 13:49:08 +02:00
parent f454d74a51
commit b1c6a2c7ab
2 changed files with 6 additions and 2 deletions
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7
src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
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@@ -75,6 +75,7 @@ static int _uart_fd = -1;
int _pwm_fd = -1;
static bool _flow_control_enabled = false;
int _rc_sub = -1;
uint16_t _pwm_disarmed;
hrt_abstime _last_actuator_controls_received = 0;
@@ -128,6 +129,8 @@ void task_main(int argc, char *argv[])
fds[0].fd = _uart_fd;
fds[0].events = POLLIN;
param_get(param_find("PWM_DISARMED"), &_pwm_disarmed);
while (!_task_should_exit) {
// wait for up to 100ms for data
@@ -204,9 +207,9 @@ void handle_message(mavlink_message_t *msg)
void set_pwm_output(mavlink_actuator_control_target_t *actuator_controls)
{
if (actuator_controls == nullptr) {
// Without valid argument, set all channels to 0
// Without valid argument, set all channels to PWM_DISARMED
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; i++) {
int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), 0);
int ret = ::ioctl(_pwm_fd, PWM_SERVO_SET(i), _pwm_disarmed);
if (ret != OK) {
PX4_ERR("PWM_SERVO_SET(%d)", i);