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Fix up FMU input timeout handling.

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Fix the FMU auto OK LED status.
Strip out unused fields from the system state structure.
This commit is contained in:
px4dev
2013-01-14 01:11:29 -08:00
parent 06b66ad065
commit 5c60ed9a94
5 changed files with 8 additions and 96 deletions
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apps/px4io/mixer.cpp
+2 -2
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@@ -66,7 +66,7 @@ extern "C" {
#define OVERRIDE 4
/* current servo arm/disarm state */
bool mixer_servos_armed = false;
static bool mixer_servos_armed = false;
/* selected control values and count for mixing */
enum mixer_source {
@@ -89,7 +89,7 @@ mixer_tick(void)
/* check that we are receiving fresh data from the FMU */
if ((hrt_absolute_time() - system_state.fmu_data_received_time) > FMU_INPUT_DROP_LIMIT_US) {
/* too many frames without FMU input, time to go to failsafe */
/* too long without FMU input, time to go to failsafe */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;