From 8dfbb43e0014dd6519b06218b992b77ad42e1b7b Mon Sep 17 00:00:00 2001
From: Miguel Arroyo <mayanez@users.noreply.github.com>
Date: Wed, 7 Sep 2016 02:17:41 -0400
Subject: [PATCH] Adds Navio Kill Switch Logic (#5461)
---
src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp b/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
index 6a20a3c306..ac4fa7f8cf 100644
--- a/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
+++ b/src/drivers/navio_sysfs_pwm_out/navio_sysfs_pwm_out.cpp
@@ -360,7 +360,13 @@ void task_main(int argc, char *argv[])
pwm,
&_pwm_limit);
- send_outputs_pwm(pwm);
+
+ if (_armed.lockdown) {
+ send_outputs_pwm(disarmed_pwm);
+
+ } else {
+ send_outputs_pwm(pwm);
+ }
if (_outputs_pub != nullptr) {
orb_publish(ORB_ID(actuator_outputs), _outputs_pub, &_outputs);
--
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