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IO Firmware: Document override behavior for manual override.

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Lorenz Meier
2017-12-31 16:36:34 +01:00
parent d7aaab07fc
commit 51111fc6e3
1 changed files with 13 additions and 6 deletions
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src/modules/px4iofirmware/controls.c
+13 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,6 +35,8 @@
* @file controls.c
*
* R/C inputs and servo outputs.
*
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <px4_config.h>
@@ -492,11 +494,16 @@ controls_tick()
*
* Firstly, manual override must be enabled, RC input available and a mixer loaded.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
if (/* condition 1: Override is always allowed */
(r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
/* condition 2: We have valid RC control inputs from the user */
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
/* condition 3: The system didn't go already into failsafe mode with fixed outputs */
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) &&
/* condition 4: RC handling wasn't generally disabled */
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
/* condition 5: We have a valid mixer to map RC inputs to actuator outputs */
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
bool override = false;