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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
commit | 8ffb9e29c62e645b48573439d4ebc70acfa7db54 (patch) | |
tree | 9b4dfe17c7a91e62be529e17e4ca70e5b4497647 /src/modules/px4iofirmware/mixer.cpp | |
parent | c304ea25077e1fd4675ef1d053cfc81e7e877b4b (diff) | |
download | px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.tar.gz px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.tar.bz2 px4-firmware-8ffb9e29c62e645b48573439d4ebc70acfa7db54.zip |
Teach IO firmware that arming and lockdown are two different things, clean up arming check
Diffstat (limited to 'src/modules/px4iofirmware/mixer.cpp')
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 15 |
1 files changed, 13 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index e55ef784a..ea9e71c53 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -217,14 +217,25 @@ mixer_tick(void) } } - if ((should_arm || should_always_enable_pwm) && !mixer_servos_armed) { + /* set arming */ + bool needs_to_arm = (should_arm || should_always_enable_pwm); + + /* check any conditions that prevent arming */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) { + needs_to_arm = false; + } + if (!should_arm && !should_always_enable_pwm) { + needs_to_arm = false; + } + + if (needs_to_arm && !mixer_servos_armed) { /* need to arm, but not armed */ up_pwm_servo_arm(true); mixer_servos_armed = true; r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED; isr_debug(5, "> PWM enabled"); - } else if ((!should_arm && !should_always_enable_pwm) && mixer_servos_armed) { + } else if (!needs_to_arm && mixer_servos_armed) { /* armed but need to disarm */ up_pwm_servo_arm(false); mixer_servos_armed = false; |