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Code Issues Releases Activity

LP-520 Add PIOS_RCVR_TIMEOUT for failsafe state

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This commit is contained in:
Laurent Lalanne 2017-06-24 14:54:02 +02:00
parent 34d27dc854
commit 6d7aa87820
1 changed files with 2 additions and 2 deletions
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4
flight/targets/boards/oplinkmini/firmware/pios_board.c
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@ -437,7 +437,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
if (pios_ppm_out_id) {
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
if (channels[i] != PIOS_RCVR_INVALID) {
if ((channels[i] != PIOS_RCVR_INVALID) && (channels[i] != PIOS_RCVR_TIMEOUT)) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);
}
}
@ -453,7 +453,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
}
#if defined(PIOS_INCLUDE_SERVO)
for (uint8_t i = 0; i < servo_count; ++i) {
uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];
uint16_t val = ((channels[i] == PIOS_RCVR_INVALID) || (channels[i] == PIOS_RCVR_TIMEOUT)) ? 0 : channels[i];
PIOS_Servo_Set(i, val);
}
#endif /* PIOS_INCLUDE_SERVO */