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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-09 11:03:06 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-09 11:03:06 +0100 |
| commit | cc628fbc27794fee52e3a6f33d091758ca1cb51a (patch) | |
| tree | 8b07c8f8dfdc762ae20fd4d07361e8320a88aabd /apps/px4io/mixer.cpp | |
| parent | 7c8942f46c87c117533ce2c4a1886f7c364399ca (diff) | |
| download | px4-firmware-cc628fbc27794fee52e3a6f33d091758ca1cb51a.tar.gz px4-firmware-cc628fbc27794fee52e3a6f33d091758ca1cb51a.tar.bz2 px4-firmware-cc628fbc27794fee52e3a6f33d091758ca1cb51a.zip | |
Add missing mixer ok check in override mode, clear FMU lost alarm when setting FMU_OK flag, print AP RX timeout in production mode as well
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index ed74cb3d3..65de864ec 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -92,7 +92,7 @@ mixer_tick(void) /* too long without FMU input, time to go to failsafe */ if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { - debug("AP RX timeout"); + lowsyslog("AP RX timeout"); } r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; @@ -101,6 +101,7 @@ mixer_tick(void) r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; } else { r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; + r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST; } source = MIX_FAILSAFE; @@ -123,7 +124,8 @@ mixer_tick(void) } if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && - (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { /* if allowed, mix from RC inputs directly */ source = MIX_OVERRIDE; |