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Arming with IO working now

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This commit is contained in:
Julian Oes
2013-06-14 16:04:23 +02:00
parent 90f5e30f2a
commit 5b21362e1f
2 changed files with 9 additions and 6 deletions
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src/drivers/px4io/px4io.cpp
+5 -6
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@@ -728,12 +728,11 @@ PX4IO::io_set_arming_state()
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
// TODO fix this
// if (armed.ready_to_arm) {
// set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
// } else {
// clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
// }
if (safety.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (vstatus.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;