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drivers/pwm_out: set default failsafe values

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This commit is contained in:
Igor Mišić
2022-06-13 11:27:23 +02:00
committed by Beat Küng
parent 1980b5c5e8
commit 04c2d0fe97
2 changed files with 13 additions and 0 deletions
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5
src/drivers/drv_pwm_output.h
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@@ -86,6 +86,11 @@ struct pwm_output_values {
*/
#define PWM_MOTOR_OFF 900
/**
* Default value for a servo stop
*/
#define PWM_SERVO_STOP 1500
/**
* Default minimum PWM in us
*/

8
src/drivers/pwm_out/PWMOut.cpp
View File

@@ -613,6 +613,14 @@ void PWMOut::update_params()
int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
param_set(param_find(str), &pwm_fail_new);
}
} else {
if (pwm_default_channel_mask & 1 << i) {
_mixing_output.failsafeValue(i) = PWM_MOTOR_OFF;
} else {
_mixing_output.failsafeValue(i) = PWM_SERVO_STOP;
}
}
} else {