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Failure detector - Add flight termination comments, make format

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bresch
2019-06-05 16:53:08 +02:00
committed by Beat Küng
parent 0655f7603b
commit 59265f6663
5 changed files with 41 additions and 32 deletions
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src/modules/px4iofirmware/mixer.cpp
+14 -14
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@@ -201,33 +201,33 @@ mixer_tick(void)
*
*/
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 */
&& (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_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 */
)
);
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_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)
);
(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,
* set the force failsafe flag once entering the first
* failsafe condition.
*/
if ( /* Flight termination is allowed */
if ( /* Flight termination is allowed */
REG_TO_BOOL(r_setup_flightterm) &&
/* If we ended up not changing the default mixer */
(source == MIX_DISARMED) &&