From 78e918ff3a487ed88b18905ac94f5819d18f6957 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 3 Aug 2020 18:07:29 +0200 Subject: [PATCH] fix pwm_out: respect _num_outputs for calling up_pwm_servo_set() _num_outputs is set according to the mode_pwmX call, which is required for camera triggering. This fixes camera triggering via PWM, as it avoids overwriting the channel. --- src/drivers/pwm_out/PWMOut.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp index 969f6a3b73..eb560b1cc4 100644 --- a/src/drivers/pwm_out/PWMOut.cpp +++ b/src/drivers/pwm_out/PWMOut.cpp @@ -558,7 +558,7 @@ bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], /* output to the servos */ if (_pwm_initialized) { - for (size_t i = 0; i < num_outputs; i++) { + for (size_t i = 0; i < math::min(_num_outputs, num_outputs); i++) { up_pwm_servo_set(i, outputs[i]); } }