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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/registers.c
+2 -6
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@@ -169,7 +169,8 @@ volatile uint16_t r_page_setup[] =
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \
PX4IO_P_SETUP_ARMING_LOCKDOWN)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
#define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1)
@@ -453,11 +454,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* lockup of the IO arming state.
*/
// XXX do not reset IO's safety state by FMU for now
// if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
// }
if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
}