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Code Issues Releases Activity

Actuator: Fixed motors not going to min throttle in failsafe.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1884 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
les 2010-10-05 14:47:48 +00:00 committed by les
parent 141f6e43fb
commit b2c81aceee
1 changed files with 14 additions and 2 deletions
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16
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -357,10 +357,22 @@ static void setFailsafe()
ActuatorCommandGet(&command);
ActuatorSettingsGet(&settings);
// Reset ActuatorCommand to neutral values
MixerSettingsData mixerSettings;
MixerSettingsGet (&mixerSettings);
Mixer_t * mixers = (Mixer_t *)&mixerSettings.Mixer0Type; //pointer to array of mixers in UAVObjects
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
command.Channel[n] = settings.ChannelNeutral[n];
if(mixers[n].type == MIXERSETTINGS_MIXER0TYPE_MOTOR)
{
command.Channel[n] = settings.ChannelMin[n];
}
else
{
command.Channel[n] = settings.ChannelNeutral[n];
}
}
// Set alarm