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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/modules/px4iofirmware/mixer.cpp
+6 -3
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@@ -211,9 +211,12 @@ mixer_tick(void)
);
should_arm_nothrottle = (
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) /* and there is valid input via or mixer */
(r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) /* IO initialised without error */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) /* and IO is armed */
&& (((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_PREARMED) /* and FMU is prearmed */
&& (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) /* and there is valid input via or mixer */
|| (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) /* or direct PWM is set */
)
);
should_always_enable_pwm = (