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| author | Simon Wilks <sjwilks@gmail.com> | 2013-03-06 20:37:01 +0100 |
|---|---|---|
| committer | Simon Wilks <sjwilks@gmail.com> | 2013-03-06 20:37:01 +0100 |
| commit | ae98836db8948edbcf59333627b25f69df4127d4 (patch) | |
| tree | 83107bc280ee4c7de36f2b446da2915fb632fb6a /apps/px4io/mixer.cpp | |
| parent | 5cca76f4144d5e431f8768b39ddb4953dcc261be (diff) | |
| download | px4-firmware-ae98836db8948edbcf59333627b25f69df4127d4.tar.gz px4-firmware-ae98836db8948edbcf59333627b25f69df4127d4.tar.bz2 px4-firmware-ae98836db8948edbcf59333627b25f69df4127d4.zip | |
Correct RC config sanity checking and report back when RC config errors occur.
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index ed74cb3d3..0fba2cbe5 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -170,9 +170,11 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - 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))); + 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)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |