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Code Issues Releases Activity

OP-493 OP-505 OP-511: Fixed bug with the direct mapping where it looked at throttle curve

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source instead of directly bypassing
This commit is contained in:
James Cotton 2011-06-06 10:46:07 -05:00
parent 83916f3a4e
commit 1ecd244aff
1 changed files with 7 additions and 2 deletions
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9
flight/Modules/Actuator/actuator.c
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@ -254,11 +254,16 @@ static void actuatorTask(void* parameters)
status[ct] = 0;
}
// If an accessory channel is selected
// If an accessory channel is selected for direct bypass mode
// In this configuration the accessory channel is scaled and mapped
// directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
// these also will not be updated in failsafe mode. I'm not sure what
// the correct behavior is since it seems domain specific. I don't love
// this code
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY2))
{
if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
status[ct] = accessory.AccessoryVal;
else
status[ct] = -1;