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Minor state machine improvements and fixes for IO safety / in-air restart handling

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Lorenz Meier
2013-06-12 12:30:42 +02:00
parent 1028bd932c
commit eb76d116cc
7 changed files with 78 additions and 36 deletions
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src/modules/px4iofirmware/registers.c
+7 -6
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@@ -317,9 +317,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* so that an in-air reset of FMU can not lead to a
* lockup of the IO arming state.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
}
// XXX do not reset IO's safety state by FMU for now
// if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
// r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED;
// }
r_setup_arming = value;
@@ -367,9 +369,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
/* do not allow a RC config change while outputs armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
break;
}