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px4io: Guard against the RC failsafe value of channel 5 causing a manual override action if set to manual in failsafe

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This commit is contained in:
Lorenz Meier 2014-04-05 11:10:41 +02:00
parent 09d1064327
commit 3e4841b6fe
1 changed files with 13 additions and 11 deletions
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24
src/modules/px4iofirmware/controls.c
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@ -310,6 +310,11 @@ controls_tick() {
* Handle losing RC input
*/
/* if we are in failsafe, clear the override flag */
if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
if (rc_input_lost) {
/* Clear the RC input status flag, clear manual override flag */
@ -320,27 +325,24 @@ controls_tick() {
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
}
/* this kicks in if the receiver is completely gone */
if (rc_input_lost) {
/* Set channel count to zero */
r_raw_rc_count = 0;
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
}
/*
* Check for manual override.
*
* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
* must have R/C input.
* must have R/C input (NO FAILSAFE!).
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
bool override = false;
@ -363,10 +365,10 @@ controls_tick() {
mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
}