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Code Issues Releases Activity

OP-1685 - Fix glitches on output settings save. It was due to wrong check for bankmode changes.

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This commit is contained in:
Alessio Morale 2015-02-22 14:21:23 +01:00
parent 60abae8a8b
commit 1f5f5747f7
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Actuator/actuator.c
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@ -774,17 +774,17 @@ static void actuator_update_rate_if_changed(const ActuatorSettingsData *actuator
{
static uint16_t prevBankUpdateFreq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
static uint8_t prevBankMode[ACTUATORSETTINGS_BANKMODE_NUMELEM];
bool updateMode = force_update || (memcmp(prevBankUpdateFreq, actuatorSettings->BankMode, sizeof(prevBankMode)) != 0);
bool updateMode = force_update || (memcmp(prevBankMode, actuatorSettings->BankMode, sizeof(prevBankMode)) != 0);
bool updateFreq = force_update || (memcmp(prevBankUpdateFreq, actuatorSettings->BankUpdateFreq, sizeof(prevBankUpdateFreq)) != 0);
// check if the any rate setting is changed
// check if any setting is changed
if (updateMode || updateFreq) {
/* Something has changed, apply the settings to HW */
uint16_t freq[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM];
uint32_t clock[ACTUATORSETTINGS_BANKUPDATEFREQ_NUMELEM] = { 0 };
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (updateMode && (actuatorSettings->BankMode[i] != prevBankMode[i])) {
if (force_update || (actuatorSettings->BankMode[i] != prevBankMode[i])) {
PIOS_Servo_SetBankMode(i,
actuatorSettings->BankMode[i] ==
ACTUATORSETTINGS_BANKMODE_PWM ?