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Merge pull request #1399 from PX4/safety

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Enable IO safety parameter to disable safety on boot
This commit is contained in:
Lorenz Meier 2014-11-23 19:07:29 +01:00
commit 8ff4da67d5
4 changed files with 29 additions and 19 deletions
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5
src/drivers/px4io/px4io.cpp
View File

@ -817,6 +817,11 @@ PX4IO::init()
}
/* set safety to off if circuit breaker enabled */
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
}
/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this);

2
src/modules/commander/state_machine_helper.cpp
View File

@ -706,7 +706,7 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
}
if (fabsf(airspeed.indicated_airspeed_m_s > 6.0f)) {
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION MISSING");
mavlink_log_critical(mavlink_fd, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
// XXX do not make this fatal yet
}
}

20
src/modules/px4iofirmware/mixer.cpp
View File

@ -353,12 +353,16 @@ static unsigned mixer_text_length = 0;
int
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while safety off */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) {
/* do not allow a mixer change while safety off and FMU armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
return 1;
}
/* abort if we're in the mixer */
/* disable mixing, will be enabled once load is complete */
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_MIXER_OK);
/* abort if we're in the mixer - the caller is expected to retry */
if (in_mixer) {
return 1;
}
@ -367,17 +371,16 @@ mixer_handle_text(const void *buffer, size_t length)
isr_debug(2, "mix txt %u", length);
if (length < sizeof(px4io_mixdata))
if (length < sizeof(px4io_mixdata)) {
return 0;
}
unsigned text_length = length - sizeof(px4io_mixdata);
unsigned text_length = length - sizeof(px4io_mixdata);
switch (msg->action) {
case F2I_MIXER_ACTION_RESET:
isr_debug(2, "reset");
/* FIRST mark the mixer as invalid */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* THEN actually delete it */
mixer_group.reset();
mixer_text_length = 0;
@ -386,9 +389,6 @@ mixer_handle_text(const void *buffer, size_t length)
case F2I_MIXER_ACTION_APPEND:
isr_debug(2, "append %d", length);
/* disable mixing during the update */
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_MIXER_OK;
/* 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;

21
src/modules/px4iofirmware/registers.c
View File

@ -407,10 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return mixer_handle_text(values, num_values * sizeof(*values));
}
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
@ -583,8 +584,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// do not reboot if FMU is armed and IO's safety is off
// this state defines an active system.
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// don't allow reboot while armed
break;
}
@ -631,9 +634,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/**
* do not allow a RC config change while outputs armed
* = FMU is armed and IO's safety is off
* this state defines an active system.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
break;
}