From 67956341e68824942cccac5c5c2c6c425a9c4d97 Mon Sep 17 00:00:00 2001 From: Roman Bapst Date: Tue, 21 Apr 2015 14:59:08 +0200 Subject: [PATCH] FireFly6: make landing gear manual pass-through --- ROMFS/px4fmu_common/mixers/firefly6.aux.mix | 2 +- src/modules/vtol_att_control/vtol_att_control_main.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix index b0b4250926..fda8416403 100644 --- a/ROMFS/px4fmu_common/mixers/firefly6.aux.mix +++ b/ROMFS/px4fmu_common/mixers/firefly6.aux.mix @@ -23,4 +23,4 @@ Landing gear mixer ------------------ M: 1 O: 10000 10000 0 -10000 10000 -S: 0 7 10000 10000 0 -10000 10000 +S: 3 6 10000 10000 0 -10000 10000 diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index d9425f2bb3..2ae10bd274 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -765,7 +765,7 @@ void VtolAttitudeControl::task_main() vehicle_battery_poll(); - if (_manual_control_sp.aux1 <= 0.0f) { /* vehicle is in mc mode */ + if (_manual_control_sp.aux1 < 0.0f) { /* vehicle is in mc mode */ _vtol_vehicle_status.vtol_in_rw_mode = true; if (!flag_idle_mc) { /* we want to adjust idle speed for mc mode */