From c16e3a035f447ea12717505055478b2c5690edf2 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 20 Jan 2014 19:40:11 +1100
Subject: [PATCH] Plane: fixed disarmed throttle in HIL
---
ArduPlane/Attitude.pde | 20 ++++++++++----------
1 file changed, 10 insertions(+), 10 deletions(-)
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index a99a24f60..f5e5caedc 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -855,16 +855,6 @@ static void set_servos(void)
channel_rudder->radio_out = channel_rudder->radio_in;
}
-#if HIL_MODE != HIL_MODE_DISABLED
- // get the servos to the GCS immediately for HIL
- if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_SERVO_OUTPUT_RAW_LEN) {
- send_radio_out(MAVLINK_COMM_0);
- }
- if (!g.hil_servos) {
- return;
- }
-#endif
-
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);
} else if (g.elevon_output != MIXING_DISABLED) {
@@ -889,6 +879,16 @@ static void set_servos(void)
}
}
+#if HIL_MODE != HIL_MODE_DISABLED
+ // get the servos to the GCS immediately for HIL
+ if (comm_get_txspace(MAVLINK_COMM_0) - MAVLINK_NUM_NON_PAYLOAD_BYTES >= MAVLINK_MSG_ID_RC_CHANNELS_SCALED_LEN) {
+ send_servo_out(MAVLINK_COMM_0);
+ }
+ if (!g.hil_servos) {
+ return;
+ }
+#endif
+
// send values to the PWM timers for output
// ----------------------------------------
channel_roll->output();
--
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