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IO: respect actuator_armed.prearmed flag

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This commit is contained in:
Julien Lecoeur
2019-09-02 10:47:40 -04:00
committed by Daniel Agar
parent 9c50f5ea08
commit ced201bdb5
4 changed files with 25 additions and 12 deletions
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src/drivers/px4io/px4io.cpp
+8
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@@ -1344,6 +1344,13 @@ PX4IO::io_set_arming_state()
_armed = armed.armed;
if (armed.prearmed) {
set |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_PREARMED;
}
if ((armed.lockdown || armed.manual_lockdown) && !_lockdown_override) {
set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
_lockdown_override = true;
@@ -2284,6 +2291,7 @@ PX4IO::print_status(bool extended_status)
printf("arming 0x%04hx%s%s%s%s%s%s%s%s%s%s\n",
arming,
((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : " FMU_DISARMED"),
((arming & PX4IO_P_SETUP_ARMING_FMU_PREARMED) ? " FMU_PREARMED" : " FMU_NOT_PREARMED"),
((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : " IO_ARM_DENIED"),
((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ? " FAILSAFE_CUSTOM" : ""),