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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 10:46:10 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 10:46:10 +0200 |
| commit | 91d50301c61cf495e83cab59621ef83cff24da3a (patch) | |
| tree | d42919346051d3ef984e2bd0b2367f758f3ee530 | |
| parent | a7109609ecfeba0a11121c1b83a46b1463f55931 (diff) | |
| download | px4-firmware-91d50301c61cf495e83cab59621ef83cff24da3a.tar.gz px4-firmware-91d50301c61cf495e83cab59621ef83cff24da3a.tar.bz2 px4-firmware-91d50301c61cf495e83cab59621ef83cff24da3a.zip | |
Do not enter RC override if FMU is lost and termination failsafe mode requested
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 1eacda97a..0c65b7642 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -139,7 +139,9 @@ mixer_tick(void) (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) && !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { + !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + /* do not enter manual override if we asked for termination failsafe and FMU is lost */ + !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; |