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px4iofirmware: no override in multirotor mode

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This fixes a bug where multirotors got into override mode when the FMU
is dead/not responding.
The main bug was that the check was for FMU_OK || MANUAL_OVERRIDE_OK
in order to get further in the override checks.

Also a mixer_tick was called inside the controls_tick even though these
are called in px4io.c after each other anyway.
This commit is contained in:
Julian Oes
2016-07-13 14:39:42 +02:00
committed by Lorenz Meier
parent 57b3bbf657
commit ec035b7268
1 changed files with 10 additions and 17 deletions
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src/modules/px4iofirmware/controls.c
+10 -17
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@@ -481,14 +481,12 @@ controls_tick()
/*
* Check for manual override.
*
* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
* must have R/C input (NO FAILSAFE!).
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
* Firstly, manual override must be enabled, RC input available and a mixer loaded.
*/
if ((!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)) &&
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
bool override = false;
@@ -499,29 +497,24 @@ controls_tick()
* requested override.
*
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) {
override = true;
}
/*
if the FMU is dead then enable override if we have a
mixer and OVERRIDE_IMMEDIATE is set
* If the FMU is dead then enable override if we have a mixer
* and we want to immediately override (instead of using the RC channel
* as in the case above.
*/
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
(r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)) {
override = true;
}
if (override) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
/* mix new RC input control values to servos */
if (dsm_updated || sbus_updated || ppm_updated || st24_updated || sumd_updated) {
mixer_tick();
}
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}