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Differentiate between failsafe having kicked in (which stops the normal output mixing based on RC outputs and prevents unwanted control commands due to failsafe) and a true loss of the receiver, where we stop outputting RC channel readings downstream on FMU.

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Lorenz Meier
2014-01-26 15:52:51 +01:00
parent 2a30c574ce
commit 00a3270dc6
2 changed files with 96 additions and 74 deletions
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src/modules/px4iofirmware/px4io.h
+2 -1
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@@ -116,7 +116,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
*/
struct sys_state_s {
volatile uint64_t rc_channels_timestamp;
volatile uint64_t rc_channels_timestamp_received;
volatile uint64_t rc_channels_timestamp_valid;
/**
* Last FMU receive time, in microseconds since system boot