PX4/Firmware — pull request #529 by DrTon (2013-11-15 07:40:36+00:00)
Title: Actuator effective hotfixes

This is hotfix for actuator_controls_effective related problems. Now it simply doesn't work on FMU+IO.

- PX4IO (firmware) now fills PX4IO_PAGE_ACTUATORS in normal operation mode, failsafe mode fixed (FLOAT_TO_REG)
- PX4IO driver on FMU side now use actuator_contols to fill actuator_controls_effective, because PX4IO_PAGE_ACTUATORS contains actuator outputs by definition, not controls

TODO:
- actuator_controls_effective should be calculated by backward mixing actual servo outputs to indicate mixer saturation, but it's not simple and I suspect will not be implemented in near future
- should actuator_controls_effective values be zeroed when disarmed?
- need to review PX4FMU's PWM output driver