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Do not enter RC override if FMU is lost and termination failsafe mode requested

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Lorenz Meier
2014-08-27 10:46:10 +02:00
parent a7109609ec
commit 91d50301c6
1 changed files with 3 additions and 1 deletions
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src/modules/px4iofirmware/mixer.cpp
+3 -1
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@@ -139,7 +139,9 @@ mixer_tick(void)
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { !(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)) {
/* if allowed, mix from RC inputs directly */ /* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE; source = MIX_OVERRIDE;