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Correct RC config sanity checking and report back when RC config errors occur.

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Simon Wilks
2013-03-06 20:37:01 +01:00
parent 5cca76f414
commit ae98836db8
5 changed files with 55 additions and 21 deletions
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apps/px4io/mixer.cpp
+5 -3
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@@ -170,9 +170,11 @@ mixer_tick(void)
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */