fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-28 05:34:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4iofirmware: clean up override decision

Browse Source 
The override checking was scattered across two places and is now unified
in controls_tick(). The part in mixer_tick only decides which mixer (or
none) to use give the override flag.
This commit is contained in:
Julian Oes 2016-07-13 15:05:36 +02:00 committed by Lorenz Meier
parent de76c398ca
commit 79a1b84b09
2 changed files with 16 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/px4iofirmware/controls.c
View File

@ -486,6 +486,7 @@ controls_tick()
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
bool override = false;
@ -506,9 +507,14 @@ controls_tick()
* If the FMU is dead then enable override if we have a mixer
* and we want to immediately override (instead of using the RC channel
* as in the case above.
*
* Also, do not enter manual override if we asked for termination
* failsafe and FMU is lost.
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)) {
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)
) {
override = true;
}

27
src/modules/px4iofirmware/mixer.cpp
View File

@ -121,16 +121,10 @@ mixer_tick(void)
* Decide which set of controls we're using.
*/
bool override_enabled = ((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_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED));
/* do not mix if RAW_PWM mode is on and FMU is good */
/* Do not mix if we have raw PWM and FMU is ok. */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* don't actually mix anything - we already have raw PWM values */
source = MIX_NONE;
} else {
@ -143,19 +137,16 @@ mixer_tick(void)
source = MIX_FMU;
}
if (override_enabled &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
/* do not enter manual override if we asked for termination failsafe and FMU is lost */
!(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) {
else if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
} else if (override_enabled &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* if allowed, mix from RC inputs directly up to available rc channels */
source = MIX_OVERRIDE_FMU_OK;
/* if allowed, mix from RC inputs directly up to available rc channels */
source = MIX_OVERRIDE_FMU_OK;
} else {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
}
}
}