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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:18:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:18:32 +0200 |
| commit | 9a53fd96482bd31da98af97de5cde88127d6c7f9 (patch) | |
| tree | b4a958f2358e60d813f9fb1232308fa4bb9050b7 /src/modules/px4iofirmware/mixer.cpp | |
| parent | 213fe0cc20ada8b8581a65f73c68b4efe6508405 (diff) | |
| download | px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.tar.gz px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.tar.bz2 px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.zip | |
Add force failsafe flag
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 2f721bf1e..606c639f9 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -111,7 +111,7 @@ mixer_tick(void) r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; } - /* default to failsafe mixing */ + /* default to failsafe mixing - it will be forced below if flag is set */ source = MIX_FAILSAFE; /* @@ -155,6 +155,13 @@ mixer_tick(void) } /* + * Check if we should force failsafe - and do it if we have to + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { + source = MIX_FAILSAFE; + } + + /* * Set failsafe status flag depending on mixing source */ if (source == MIX_FAILSAFE) { |