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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-12 22:19:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-12 22:19:53 +0100 |
| commit | d4ca6a29a19c96d359aa1458a4e6f3d9c86b01ac (patch) | |
| tree | 7b23cc482ac6a8a067a9200deff601d1f8e83a8f /apps/px4io/mixer.cpp | |
| parent | 4af4d1cf2125a173db3d358d84bb34eebb17d446 (diff) | |
| download | px4-firmware-d4ca6a29a19c96d359aa1458a4e6f3d9c86b01ac.tar.gz px4-firmware-d4ca6a29a19c96d359aa1458a4e6f3d9c86b01ac.tar.bz2 px4-firmware-d4ca6a29a19c96d359aa1458a4e6f3d9c86b01ac.zip | |
Ensured that the mixer output obeys the FMU and IO armed state
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 848a88621..740d8aeb0 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -231,8 +231,9 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))); + bool should_arm = (/* 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))); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |