From bd15653b173029dfc12c3d4a73b897570e0867c0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 24 Jan 2014 17:37:01 +0100 Subject: [PATCH] Use the proper status registers for locking out from mixer updates and return the value of the mixer change. --- src/modules/px4iofirmware/registers.c | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index ad44730736..2c437d2c0c 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -382,7 +382,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - mixer_handle_text(values, num_values * sizeof(*values)); + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + return mixer_handle_text(values, num_values * sizeof(*values)); + } break; default: @@ -509,8 +512,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_REBOOT_BL: if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed break; } @@ -540,8 +542,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * do not allow a RC config change while outputs armed */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { break; }