IO firmware: Do mixer load as block operation

src/modules/px4iofirmware/mixer.cpp

@@ -88,9 +88,6 @@ static int	mixer_callback(uintptr_t handle,
 
 static MixerGroup mixer_group(mixer_callback, 0);
 
-/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
-static void mixer_set_failsafe();
-
 void
 mixer_tick(void)
 {
@@ -479,15 +476,6 @@ mixer_handle_text(const void *buffer, size_t length)
 		/* if anything was parsed */
 		if (resid != mixer_text_length) {
 
-			/* only set mixer ok if no residual is left over */
-			if (resid == 0) {
-				r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
-
-			} else {
-				/* not yet reached the end of the mixer, set as not ok */
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
-			}
-
 			isr_debug(2, "used %u", mixer_text_length - resid);
 
 			/* copy any leftover text to the base of the buffer for re-use */
@@ -496,9 +484,6 @@ mixer_handle_text(const void *buffer, size_t length)
 			}
 
 			mixer_text_length = resid;
-
-			/* update failsafe values */
-			mixer_set_failsafe();
 		}
 
 		break;
@@ -507,7 +492,7 @@ mixer_handle_text(const void *buffer, size_t length)
 	return 0;
 }
 
-static void
+void
 mixer_set_failsafe()
 {
 	/*

src/modules/px4iofirmware/px4io.h

@@ -190,6 +190,8 @@ extern pwm_limit_t pwm_limit;
  */
 extern void	mixer_tick(void);
 extern int	mixer_handle_text(const void *buffer, size_t length);
+/* Set the failsafe values of all mixed channels (based on zero throttle, controls centered) */
+extern void	mixer_set_failsafe(void);
 
 /**
  * Safety switch/LED.

src/modules/px4iofirmware/registers.c

@@ -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;