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IO: rename FORCE_FAILSAFE to TERMINATION for clarity

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Matthias Grob 2025-07-25 16:48:22 +02:00 committed by Alex Klimaj
parent 7fe78e184e
commit 9d75bdbe62
7 changed files with 13 additions and 13 deletions
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2
boards/modalai/voxl2-slpi/src/drivers/dsp_sbus/protocol.h
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@ -189,7 +189,7 @@
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION (1 << 9) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */

2
boards/modalai/voxl2/src/drivers/apps_sbus/protocol.h
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@ -189,7 +189,7 @@
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 6) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 7) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 8) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 9) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION (1 << 9) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 10) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 11) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */

2
msg/Px4ioStatus.msg
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@ -29,7 +29,7 @@ bool alarm_rc_lost
bool arming_failsafe_custom
bool arming_fmu_armed
bool arming_fmu_prearmed
bool arming_force_failsafe
bool arming_terminated
bool arming_io_arm_ok
bool arming_lockdown
bool arming_termination_failsafe

6
src/drivers/px4io/px4io.cpp
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@ -801,10 +801,10 @@ PX4IO::io_set_arming_state()
}
if (armed.termination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
set |= PX4IO_P_SETUP_ARMING_TERMINATION;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
clear |= PX4IO_P_SETUP_ARMING_TERMINATION;
}
if (armed.ready_to_arm) {
@ -988,7 +988,7 @@ int PX4IO::io_get_status()
status.arming_fmu_prearmed = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FMU_PREARMED;
status.arming_failsafe_custom = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM;
status.arming_lockdown = SETUP_ARMING & PX4IO_P_SETUP_ARMING_LOCKDOWN;
status.arming_force_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
status.arming_terminated = SETUP_ARMING & PX4IO_P_SETUP_ARMING_TERMINATION;
status.arming_termination_failsafe = SETUP_ARMING & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE;
for (unsigned i = 0; i < _max_actuators; i++) {

6
src/modules/px4iofirmware/mixer.cpp
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@ -156,13 +156,13 @@ mixer_tick()
(source == MIX_DISARMED) && /* and if we ended up not changing the default mixer */
should_arm && /* and we should be armed, so we intended to provide outputs */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { /* and FMU is initialized */
atomic_modify_or(&r_setup_arming, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); /* then FMU is dead -> terminate flight */
atomic_modify_or(&r_setup_arming, PX4IO_P_SETUP_ARMING_TERMINATION); /* then FMU is dead -> terminate flight */
}
/*
* Check if we should force failsafe - and do it if we have to
* If terminated output failsafe values
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION) {
source = MIX_FAILSAFE;
}

2
src/modules/px4iofirmware/protocol.h
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@ -162,7 +162,7 @@
#define PX4IO_P_SETUP_ARMING_FMU_PREARMED (1 << 2) /* FMU is already prearmed */
#define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM (1 << 3) /* use custom failsafe values */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 4) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 5) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION (1 << 5) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 6) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */

6
src/modules/px4iofirmware/registers.c
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@ -153,7 +153,7 @@ volatile uint16_t r_page_setup[] = {
PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
PX4IO_P_SETUP_ARMING_LOCKDOWN | \
PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \
PX4IO_P_SETUP_ARMING_TERMINATION | \
PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)
#define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1)
@ -361,11 +361,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
/*
* If failsafe termination is enabled and force failsafe bit is set, do not allow
* If failsafe termination is enabled and termination bit is set, do not allow
* the autopilot to clear it.
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) {
value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
value |= (r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION);
}
r_setup_arming = value;