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Ensured that the mixer output obeys the FMU and IO armed state

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Lorenz Meier 2013-02-12 22:19:53 +01:00
parent 4af4d1cf21
commit d4ca6a29a1
1 changed files with 3 additions and 2 deletions
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5
apps/px4io/mixer.cpp
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@ -231,8 +231,9 @@ mixer_tick(void)
* XXX correct behaviour for failsafe may require an additional case
* here.
*/
bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
(r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)));
bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) &&
/* 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)));
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */