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Added flag to disable RC evaluation onboard of IO (raw values still forwarded)

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Lorenz Meier
2013-08-21 11:17:29 +02:00
parent 2a58929ffd
commit 5fbee23945
4 changed files with 36 additions and 11 deletions
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src/modules/px4iofirmware/mixer.cpp
+2 -1
View File
@@ -132,7 +132,8 @@ mixer_tick(void)
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
src/modules/px4iofirmware/protocol.h
+2 -1
View File
@@ -74,7 +74,7 @@
#define REG_TO_FLOAT(_reg) ((float)REG_TO_SIGNED(_reg) / 10000.0f)
#define FLOAT_TO_REG(_float) SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
#define PX4IO_PROTOCOL_VERSION 2
#define PX4IO_PROTOCOL_VERSION 3
/* static configuration page */
#define PX4IO_PAGE_CONFIG 0
@@ -157,6 +157,7 @@
#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values, not 0 values of mixer */
#define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 5) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
src/modules/px4iofirmware/registers.c
+9 -1
View File
@@ -158,7 +158,8 @@ volatile uint16_t r_page_setup[] =
#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
PX4IO_P_SETUP_ARMING_IO_ARM_OK)
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -335,6 +336,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}
r_setup_arming = value;
break;
@@ -427,6 +432,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
/* clear any existing RC disabled flag */
r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED);
/* set all options except the enabled option */
conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;