From efb71311868ef3a29304d4f1b3305779d61431b8 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 22 Nov 2016 08:04:57 +1100
Subject: [PATCH] px4io: improve multi-rotor motor saturation status reporting
---
src/drivers/px4io/px4io.cpp | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index d1eae66b5b..db2cb34905 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2046,9 +2046,7 @@ PX4IO::io_publish_pwm_outputs()
/* get mixer status flags from IO */
uint16_t mixer_status;
ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &mixer_status, sizeof(mixer_status) / sizeof(uint16_t));
- motor_limits.lower_limit = mixer_status & PX4IO_P_STATUS_MIXER_LOWER_LIMIT;
- motor_limits.upper_limit = mixer_status & PX4IO_P_STATUS_MIXER_UPPER_LIMIT;
- motor_limits.yaw = mixer_status & PX4IO_P_STATUS_MIXER_YAW_LIMIT;
+ motor_limits.saturation_status = mixer_status;
if (ret != OK) {
return ret;
--
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