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Revert "px4io: replace safety_off state with safety button event (#19558)"

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This reverts commit 12a81979a8.
This commit is contained in:
Igor Misic
2022-05-19 15:27:08 +02:00
committed by Daniel Agar
parent 6aefcbb6cf
commit 554283655c
26 changed files with 190 additions and 69 deletions
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src/modules/px4iofirmware/mixer.cpp
+4 -2
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@@ -134,11 +134,13 @@ mixer_tick()
* FMU or from the mixer.
*
*/
should_arm = (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
should_arm = (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 */
;
should_arm_nothrottle = ((r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
should_arm_nothrottle = ((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_PREARMED) /* and FMU is prearmed */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) /* or direct PWM is set */
));