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Made pwm command sending continously, improved failsafe logic

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Lorenz Meier
2013-06-07 19:41:41 +02:00
parent aa641b5c34
commit 8567134d64
2 changed files with 49 additions and 15 deletions
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src/modules/px4iofirmware/mixer.cpp
+7 -9
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@@ -98,7 +98,7 @@ mixer_tick(void)
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
isr_debug(1, "AP RX timeout");
}
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
} else {
@@ -112,12 +112,11 @@ mixer_tick(void)
* Decide which set of controls we're using.
*/
/* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */
/* do not mix if RAW_PWM mode is on and FMU is good */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* don't actually mix anything - we already have raw PWM values or
not a valid mixer. */
/* don't actually mix anything - we already have raw PWM values */
source = MIX_NONE;
} else {
@@ -196,10 +195,9 @@ mixer_tick(void)
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
/* FMU is available or FMU is not available but override is an option */
((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
/* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
);
if (should_arm && !mixer_servos_armed) {