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IO board now disarms when FMU reboots when manual override is not an option

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This commit is contained in:
Julian Oes
2013-03-15 15:24:52 -07:00
parent 37c1f30598
commit b5b460e7ca
1 changed files with 5 additions and 4 deletions
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apps/px4io/mixer.cpp
+5 -4
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@@ -93,13 +93,11 @@ mixer_tick(void)
/* too long without FMU input, time to go to failsafe */ /* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
lowsyslog("AP RX timeout"); isr_debug(1, "AP RX timeout");
} }
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
/* XXX this is questionable - vehicle may not make sense for direct control */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else { } else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
@@ -179,7 +177,10 @@ mixer_tick(void)
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && /* 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)) && /* 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)); /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) &&
/* FMU is available or FMU is not available but override is an option */
((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ))
);
if (should_arm && !mixer_servos_armed) { if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */ /* need to arm, but not armed */