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Introduce FMU initialised status flag, only run failsafe trap if initialized once

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Lorenz Meier
2014-08-28 21:39:38 +02:00
parent c85d7aae06
commit 6773eb9880
2 changed files with 36 additions and 32 deletions
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src/modules/px4iofirmware/protocol.h
+1
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@@ -111,6 +111,7 @@
#define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */
#define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */
#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */
#define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED (1 << 13) /* FMU was initialized and OK once */
#define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */
#define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* [1] VBatt is very close to regulator dropout */