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PX4ioFirmware - Clean should_arm, should_arm_nothrottle and should_always_enable_pwm indentation for better understanding

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bresch 2018-08-21 11:41:47 +02:00 committed by Beat Küng
parent ba93f9b983
commit 19bf080313
1 changed files with 19 additions and 16 deletions
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35
src/modules/px4iofirmware/mixer.cpp
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@ -200,25 +200,28 @@ mixer_tick(void)
*
*/
should_arm = (
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
/* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and FMU is armed */ && (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)
/* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
/* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)
/* or failsafe was set manually */ || ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
&& !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK))
)
);
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (
((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) /* and FMU is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) /* and there is valid input via or mixer */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) /* or direct PWM is set */
|| ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) /* or failsafe was set manually */
&& !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) /* and FMU is not active */
)
);
should_arm_nothrottle = (
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
/* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
/* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK));
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) /* and there is valid input via or mixer */
);
should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK);
should_always_enable_pwm = (
(r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)
);
/*
* Check if failsafe termination is set - if yes,