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IO driver: Reflect availability of override state in safety topic

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This allows other components to correctly configure for potential manual override states if the pilot chooses to enable them.
This commit is contained in:
Lorenz Meier
2017-11-30 13:01:33 +00:00
parent 1b7d3883a4
commit 0e1c7eb2d2
1 changed files with 7 additions and 1 deletions
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src/drivers/px4io/px4io.cpp
+7 -1
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@@ -275,6 +275,7 @@ private:
bool _primary_pwm_device; ///< true if we are the default PWM output
bool _lockdown_override; ///< allow to override the safety lockdown
bool _armed; ///< wether the system is armed
bool _override_available; ///< true if manual reversion mode is enabled
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
bool _in_esc_calibration_mode; ///< do not send control outputs to IO (used for esc calibration)
@@ -494,6 +495,7 @@ PX4IO::PX4IO(device::Device *interface) :
_primary_pwm_device(false),
_lockdown_override(false),
_armed(false),
_override_available(false),
_cb_flighttermination(true),
_in_esc_calibration_mode(false),
_rssi_pwm_chan(0),
@@ -1399,9 +1401,11 @@ PX4IO::io_set_arming_state()
if (have_control_mode == OK) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = true;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
_override_available = false;
}
}
@@ -1627,7 +1631,7 @@ PX4IO::io_handle_status(uint16_t status)
safety.timestamp = hrt_absolute_time();
safety.safety_switch_available = true;
safety.safety_off = (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? true : false;
safety.override_available = true; // XXX should be (arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? true : false;
safety.override_available = _override_available;
safety.override_enabled = (status & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? true : false;
/* lazily publish the safety status */
@@ -2912,11 +2916,13 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
case PWM_SERVO_SET_OVERRIDE_OK:
/* set the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK);
_override_available = true;
break;
case PWM_SERVO_CLEAR_OVERRIDE_OK:
/* clear the 'OVERRIDE OK' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
_override_available = false;
break;
default: