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Reworked manual override flag, reworked arming slightly. Pending testing

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This commit is contained in:
Lorenz Meier
2013-02-13 08:38:31 +01:00
parent d4ca6a29a1
commit 4595cc65b8
4 changed files with 12 additions and 21 deletions
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apps/drivers/px4io/px4io.cpp
+3 -3
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@@ -335,7 +335,7 @@ PX4IO::init()
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_ARM_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
/* publish RC config to IO */
@@ -541,9 +541,9 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
}
if (vstatus.flag_external_manual_override_ok) {
set |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
}
return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);