Fixed led patterns to be up to the latest specs

5 files changed, 41 insertions, 26 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e69fbebf7..3006cf885 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -416,7 +416,7 @@ PX4IO::init()
 	 * already armed, and has been configured for in-air restart
 	 */
 	if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
-	    (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
+	    (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 
 	    	mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART");
 
@@ -500,7 +500,7 @@ PX4IO::init()
 
 		/* dis-arm IO before touching anything */
 		io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
-			PX4IO_P_SETUP_ARMING_ARM_OK |
+			PX4IO_P_SETUP_ARMING_FMU_ARMED |
 			PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
 			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0);
 
@@ -701,11 +701,18 @@ PX4IO::io_set_arming_state()
 	uint16_t set = 0;
 	uint16_t clear = 0;
 
-	if (armed.armed) {
-		set |= PX4IO_P_SETUP_ARMING_ARM_OK;
+	if (armed.armed && !armed.lockdown) {
+		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	} else {
-		clear |= PX4IO_P_SETUP_ARMING_ARM_OK;
+		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	}
+
+	if (armed.ready_to_arm) {
+		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
+	}
+
 	if (vstatus.flag_external_manual_override_ok) {
 		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	} else {
@@ -1271,9 +1278,9 @@ PX4IO::print_status()
 	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT),
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE));
 	printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n",
-	       _battery_amp_per_volt,
-	       _battery_amp_bias,
-	       _battery_mamphour_total);
+	       (double)_battery_amp_per_volt,
+	       (double)_battery_amp_bias,
+	       (double)_battery_mamphour_total);
 	printf("actuators");
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i));
@@ -1303,9 +1310,10 @@ PX4IO::print_status()
 	/* setup and state */
 	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s\n",
 		arming,
-		((arming & PX4IO_P_SETUP_ARMING_ARM_OK)             ? " ARM_OK" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)          ? " FMU_ARMED" : ""),
+		((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)	    ? " IO_ARM_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
 		((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)   ? " INAIR_RESTART_OK" : ""));
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
@@ -1347,12 +1355,12 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_ARM:
 		/* set the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
 		break;
 
 	case PWM_SERVO_DISARM:
 		/* clear the 'armed' bit */
-		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);
 		break;
 
 	case PWM_SERVO_SET_UPDATE_RATE:
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index bea388a10..ab728c7bb 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status)
 {
 	struct actuator_armed_s armed;
 	armed.armed = current_status->flag_system_armed;
+
+	/* XXX allow arming by external components on multicopters only if not yet armed by RC */
+	/* XXX allow arming only if core sensors are ok */
+	armed.ready_to_arm = true;
+
 	/* lock down actuators if required, only in HIL */
 	armed.lockdown = (current_status->flag_hil_enabled) ? true : false;
 	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index d015fb629..e575bd841 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -145,7 +145,8 @@
 #define PX4IO_P_SETUP_FEATURES			0
 
 #define PX4IO_P_SETUP_ARMING			1	 /* arming controls */
-#define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
+#define PX4IO_P_SETUP_ARMING_IO_ARM_OK		(1 << 0) /* OK to arm the IO side */
+#define PX4IO_P_SETUP_ARMING_FMU_ARMED		(1 << 1) /* FMU is already armed */
 #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
 
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index a2880d2ef..f6cd5fb45 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,8 @@
  ****************************************************************************/
 
 /**
- * @file Safety button logic.
+ * @file safety.c
+ * Safety button logic.
  */
 
 #include <nuttx/config.h>
@@ -56,10 +57,10 @@ static unsigned counter = 0;
 /*
  * Define the various LED flash sequences for each system state.
  */
-#define LED_PATTERN_SAFE 			0x000f		/**< always on 				*/
-#define LED_PATTERN_FMU_ARMED 			0x5555		/**< slow blinking			*/
-#define LED_PATTERN_IO_ARMED 			0x5555		/**< fast blinking 			*/
-#define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< long off then double blink 	*/
+#define LED_PATTERN_FMU_OK_TO_ARM 		0x0003		/**< slow blinking			*/
+#define LED_PATTERN_FMU_REFUSE_TO_ARM 		0x5555		/**< fast blinking			*/
+#define LED_PATTERN_IO_ARMED 			0x5050		/**< long off, then double blink 	*/
+#define LED_PATTERN_IO_FMU_ARMED 		0xffff		/**< constantly on			*/
 
 static unsigned blink_counter = 0;
 
@@ -108,7 +109,8 @@ safety_check_button(void *arg)
 	 * state machine, keep ARM_COUNTER_THRESHOLD the same
 	 * length in all cases of the if/else struct below.
 	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
+	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
+		(r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
 			counter++;
@@ -119,8 +121,6 @@ safety_check_button(void *arg)
 			counter++;
 		}
 
-		/* Disarm quickly */
-
 	} else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
 
 		if (counter < ARM_COUNTER_THRESHOLD) {
@@ -137,18 +137,18 @@ safety_check_button(void *arg)
 	}
 
 	/* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */
-	uint16_t pattern = LED_PATTERN_SAFE;
+	uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM;
 
 	if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) {
-		if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
+		if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) {
 			pattern = LED_PATTERN_IO_FMU_ARMED;
 
 		} else {
 			pattern = LED_PATTERN_IO_ARMED;
 		}
 
-	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) {
-		pattern = LED_PATTERN_FMU_ARMED;
+	} else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) {
+		pattern = LED_PATTERN_FMU_OK_TO_ARM;
 
 	}
 
diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h
index 0b50a29ac..b7c4196c0 100644
--- a/src/modules/uORB/topics/actuator_controls.h
+++ b/src/modules/uORB/topics/actuator_controls.h
@@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3);
 /** global 'actuator output is live' control. */
 struct actuator_armed_s {
 	bool	armed;		/**< Set to true if system is armed */
+	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
 };