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Hotfix: Make IOs mixer loading pedantic to make sure the full mixer loads

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This commit is contained in:
Lorenz Meier 2013-06-07 10:34:55 +02:00
parent 4302f76402
commit 6c7c130de7
1 changed files with 12 additions and 6 deletions
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18
src/modules/px4iofirmware/mixer.cpp
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@ -294,8 +294,7 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* check for overflow - this is really fatal */
/* XXX could add just what will fit & try to parse, then repeat... */
/* check for overflow - this would be really fatal */
if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
return;
@ -314,8 +313,13 @@ mixer_handle_text(const void *buffer, size_t length)
/* if anything was parsed */
if (resid != mixer_text_length) {
/* ideally, this should test resid == 0 ? */
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* only set mixer ok if no residual is left over */
if (resid == 0) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_MIXER_OK;
} else {
/* not yet reached the end of the mixer, set as not ok */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
}
isr_debug(2, "used %u", mixer_text_length - resid);
@ -338,11 +342,13 @@ mixer_set_failsafe()
{
/*
* Check if a custom failsafe value has been written,
* else use the opportunity to set decent defaults.
* or if the mixer is not ok and bail out.
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ||
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK))
return;
/* set failsafe defaults to the values for all inputs = 0 */
float outputs[IO_SERVO_COUNT];
unsigned mixed;