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| author | px4dev <px4@purgatory.org> | 2013-02-24 15:31:40 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-02-24 15:31:40 -0800 |
| commit | 3d9901dfaf687e375569cbc3256b818ff01721c6 (patch) | |
| tree | d0df147c9c1343be927742dbe830eb6fa4124be2 /apps/px4io/mixer.cpp | |
| parent | dc74eeb421bce204a3064bcc60d524bf3fb53ab2 (diff) | |
| download | px4-firmware-3d9901dfaf687e375569cbc3256b818ff01721c6.tar.gz px4-firmware-3d9901dfaf687e375569cbc3256b818ff01721c6.tar.bz2 px4-firmware-3d9901dfaf687e375569cbc3256b818ff01721c6.zip | |
If we have seen control input from FMU, update the FMU_OK status flag.
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 77f28cd7a..ed74cb3d3 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -94,9 +94,13 @@ mixer_tick(void) if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { debug("AP RX timeout"); } - r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; 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; } source = MIX_FAILSAFE; |