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| author | Julian Oes <joes@student.ethz.ch> | 2013-03-15 15:24:52 -0700 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-03-15 15:24:52 -0700 |
| commit | b5b460e7ca7339bce024697bed076a8362f9dc67 (patch) | |
| tree | f5fae2dcb7d4ed89aeeb004f6612824aba481afc | |
| parent | 37c1f3059814a6f77228482e0f5cad97591b0db8 (diff) | |
| download | px4-firmware-b5b460e7ca7339bce024697bed076a8362f9dc67.tar.gz px4-firmware-b5b460e7ca7339bce024697bed076a8362f9dc67.tar.bz2 px4-firmware-b5b460e7ca7339bce024697bed076a8362f9dc67.zip | |
IO board now disarms when FMU reboots when manual override is not an option
| -rw-r--r-- | apps/px4io/mixer.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index ec69cdd64..f38593d2a 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -93,13 +93,11 @@ mixer_tick(void) /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { - lowsyslog("AP RX timeout"); + isr_debug(1, "AP RX timeout"); } r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; - /* XXX this is questionable - vehicle may not make sense for direct control */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; } else { r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; @@ -179,7 +177,10 @@ mixer_tick(void) /* 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)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)); + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && + /* FMU is available or FMU is not available but override is an option */ + ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + ); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |