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| author | Julian Oes <joes@student.ethz.ch> | 2013-02-22 15:53:07 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-22 15:53:07 -0800 |
| commit | f731b6f4e5b009cf12d66c9ff2f5bbed47ca14af (patch) | |
| tree | 5a74365c3100ec2ac46b2ade64c5a44164f987ec /apps/drivers/px4io/px4io.cpp | |
| parent | 793b482e00013ea66bb1b0cdc0366bb720648938 (diff) | |
| parent | be408451779dc53220ec94499a7acbe5ff3b8e7f (diff) | |
| download | px4-firmware-f731b6f4e5b009cf12d66c9ff2f5bbed47ca14af.tar.gz px4-firmware-f731b6f4e5b009cf12d66c9ff2f5bbed47ca14af.tar.bz2 px4-firmware-f731b6f4e5b009cf12d66c9ff2f5bbed47ca14af.zip | |
Merge remote-tracking branch 'upstream/px4io-i2c' into new_state_machine
Diffstat (limited to 'apps/drivers/px4io/px4io.cpp')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index b2e0c6ee4..adb894371 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -367,7 +367,12 @@ PX4IO::init() if (ret != OK) return ret; - if (reg & PX4IO_P_SETUP_ARMING_ARM_OK) { + /* + * in-air restart is only tried if the IO board reports it is + * 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)) { /* WARNING: COMMANDER app/vehicle status must be initialized. * If this fails (or the app is not started), worst-case IO @@ -450,6 +455,7 @@ 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_INAIR_RESTART_OK | PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); @@ -1164,6 +1170,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0); break; + case PWM_SERVO_INAIR_RESTART_ENABLE: + /* set the 'in-air restart' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK); + break; + + case PWM_SERVO_INAIR_RESTART_DISABLE: + /* unset the 'in-air restart' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0); + break; + case PWM_SERVO_SET_UPDATE_RATE: /* set the requested rate */ if ((arg >= 50) && (arg <= 400)) { |