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IO driver: Report override device state

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This allows other components to correctly register the IO override status.
This commit is contained in:
Lorenz Meier
2017-12-02 11:39:52 +00:00
parent 39f4b205e7
commit 67fa220d61
1 changed files with 4 additions and 9 deletions
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src/drivers/px4io/px4io.cpp
+4 -9
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@@ -1625,15 +1625,10 @@ PX4IO::io_handle_status(uint16_t status)
*/
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
safety.safety_off = true;
safety.safety_switch_available = true;
} else {
safety.safety_off = false;
safety.safety_switch_available = true;
}
safety.safety_switch_available = true;
safety.safety_off = (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? true : false;
safety.override_available = true; // XXX should be (arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? true : false;
safety.override_enabled = (status & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? true : false;
/* lazily publish the safety status */
if (_to_safety != nullptr) {