diff options
| author | Andrew Tridgell <tridge@samba.org> | 2013-02-18 14:16:09 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2013-02-18 14:16:09 +1100 |
| commit | 317515fb6a3d6e469681b53316d69c7669efdaf0 (patch) | |
| tree | 8b7a08491c482c0d335e60b2c76a99ef68d4a60a /apps/drivers/px4io/px4io.cpp | |
| parent | 1670b8afe13ba6c845800228d1c8829aa1bf31c9 (diff) | |
| download | px4-firmware-317515fb6a3d6e469681b53316d69c7669efdaf0.tar.gz px4-firmware-317515fb6a3d6e469681b53316d69c7669efdaf0.tar.bz2 px4-firmware-317515fb6a3d6e469681b53316d69c7669efdaf0.zip | |
px4io: added INAIR_RESTART enable/disable flags
the autopilot code needs to know that in-air restart may happen, so it
should be something that is enabled, rather than on by default.
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)) { |