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IO firmware: Do mixer load as block operation

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Lorenz Meier
2015-11-06 10:24:10 +01:00
parent 85605f72f2
commit 083dbbb71b
3 changed files with 15 additions and 17 deletions
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src/modules/px4iofirmware/registers.c
+12 -1
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@@ -469,8 +469,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* Allow FMU override of arming state (to allow in-air restores),
* but only if the arming state is not in sync on the IO side.
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
if (PX4IO_P_STATUS_FLAGS_MIXER_OK & value) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
} else if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
r_status_flags = value;
}
if (PX4IO_P_STATUS_FLAGS_MIXER_OK & r_status_flags) {
/* update failsafe values, now that the mixer is set to ok */
mixer_set_failsafe();
}
break;