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Add missing mixer ok check in override mode, clear FMU lost alarm when setting FMU_OK flag, print AP RX timeout in production mode as well

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This commit is contained in:
Lorenz Meier 2013-03-09 11:03:06 +01:00
parent 7c8942f46c
commit cc628fbc27
1 changed files with 4 additions and 2 deletions
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6
apps/px4io/mixer.cpp
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@ -92,7 +92,7 @@ mixer_tick(void)
/* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
debug("AP RX timeout");
lowsyslog("AP RX timeout");
}
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
@ -101,6 +101,7 @@ mixer_tick(void)
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
}
source = MIX_FAILSAFE;
@ -123,7 +124,8 @@ mixer_tick(void)
}
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(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)) {
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;