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Teach IO firmware that arming and lockdown are two different things, clean up arming check

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Lorenz Meier
2014-01-16 10:56:15 +01:00
parent c304ea2507
commit 8ffb9e29c6
3 changed files with 16 additions and 8 deletions
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src/modules/px4iofirmware/mixer.cpp
+13 -2
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@@ -217,14 +217,25 @@ mixer_tick(void)
}
}
if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) {
/* set arming */
bool needs_to_arm = (should_arm || should_always_enable_pwm);
/* check any conditions that prevent arming */
if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) {
needs_to_arm = false;
}
if (!should_arm && !should_always_enable_pwm) {
needs_to_arm = false;
}
if (needs_to_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
isr_debug(5, "> PWM enabled");
} else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) {
} else if (!needs_to_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;