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| author | Julian Oes <joes@student.ethz.ch> | 2012-11-06 19:03:08 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2012-11-06 19:03:08 -0800 |
| commit | 74f76006029ad6b209c1a409e8e35044b1c53bbb (patch) | |
| tree | 9266ab3e8fd3fb51ef91a0970cc2b476fe46c2ee /apps/px4io/comms.c | |
| parent | 7da799d154f6f3c5f0c1a92cbad4288f83c90650 (diff) | |
| download | px4-firmware-74f76006029ad6b209c1a409e8e35044b1c53bbb.tar.gz px4-firmware-74f76006029ad6b209c1a409e8e35044b1c53bbb.tar.bz2 px4-firmware-74f76006029ad6b209c1a409e8e35044b1c53bbb.zip | |
Again some hacking to make arming/disarming work for now
Diffstat (limited to 'apps/px4io/comms.c')
| -rw-r--r-- | apps/px4io/comms.c | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 1edff25b1..0a0453b55 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -148,13 +148,19 @@ comms_handle_command(const void *buffer, size_t length) for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++) system_state.fmu_channel_data[i] = cmd->servo_command[i]; + /* if the IO is armed and the FMU gets disarmed, the IO must also disarm */ + if(system_state.arm_ok && !cmd->arm_ok) { + system_state.armed = false; + } + system_state.arm_ok = cmd->arm_ok; system_state.mixer_use_fmu = true; system_state.fmu_data_received = true; + /* handle changes signalled by FMU */ - if (!system_state.arm_ok && system_state.armed) - system_state.armed = false; +// if (!system_state.arm_ok && system_state.armed) +// system_state.armed = false; /* XXX do relay changes here */ for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) |