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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 08:00:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 08:00:12 +0200 |
| commit | 49846d476f77290093c24097e05d5a8d60d1a4f1 (patch) | |
| tree | cca4b43a3409c55b20bf96f96184b7cdb0f4b262 /src/modules/px4iofirmware/mixer.cpp | |
| parent | 1fbdca4ee988d5816eebbd9fef95ce498bacfd14 (diff) | |
| download | px4-firmware-49846d476f77290093c24097e05d5a8d60d1a4f1.tar.gz px4-firmware-49846d476f77290093c24097e05d5a8d60d1a4f1.tar.bz2 px4-firmware-49846d476f77290093c24097e05d5a8d60d1a4f1.zip | |
IO firmware supports termination failsafe
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 606c639f9..1eacda97a 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -155,6 +155,16 @@ mixer_tick(void) } /* + * Check if failsafe termination is set - if yes, + * set the force failsafe flag once entering the first + * failsafe condition. + */ + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) && + (source == MIX_FAILSAFE)) { + r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; + } + + /* * Check if we should force failsafe - and do it if we have to */ if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { |