Reworked manual override flag, reworked arming slightly. Pending testing

3 files changed, 9 insertions, 18 deletions

diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 8cd5235b7..b4a18bae6 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -245,11 +245,12 @@ controls_main(void)
 		/*
 		 * Check for manual override.
 		 *
-		 * The OVERRIDE_OK feature must be set, and we must have R/C input.
+		 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
+		 * must have R/C input.
 		 * Override is enabled if either the hardcoded channel / value combination
 		 * is selected, or the AP has requested it.
 		 */
-		if ((r_setup_features & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) && 
+		if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
 			(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
 
 			bool override = false;
@@ -260,14 +261,7 @@ controls_main(void)
 			 *
 			 * XXX This should be configurable.
 			 */
-			if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
-				override = true;
-
-			/*
-			 * Check for an explicit manual override request from the AP.
-			 */
-			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
-				(r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE))
+			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
 				override = true;
 
 			if (override) {
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 6278e05d4..29a287e45 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -136,12 +136,11 @@
 /* setup page */
 #define PX4IO_PAGE_SETUP		100
 #define PX4IO_P_SETUP_FEATURES			0
-#define PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK	(1 << 0) /* OK to switch to manual override */
 
 #define PX4IO_P_SETUP_ARMING			1	/* arming controls */
 #define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
-#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE	(1 << 2) /* request switch to manual override */
-#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3)
+#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
+#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3) /* OK to perform position / vector control (= position lock) */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_LOWRATE		3	/* 'low' PWM frame output rate in Hz */
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
index 815563daa..6229a6cc1 100644
--- a/apps/px4io/registers.c
+++ b/apps/px4io/registers.c
@@ -140,9 +140,9 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_IBATT_BIAS]		= 0
 };
 
-#define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK)
+#define PX4IO_P_SETUP_FEATURES_VALID	(0)
 #define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
-					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)
+					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -283,9 +283,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			value &= PX4IO_P_SETUP_FEATURES_VALID;
 			r_setup_features = value;
 
-			/* update manual override state - disable if no longer OK */
-			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK))
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+			/* no implemented feature selection at this point */
 
 			break;