diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 15:19:19 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 15:19:19 +0200 |
| commit | 309ea8146055528c22395fca06b7a70b660c22b3 (patch) | |
| tree | 13478630a0543077da64db78ad59a972af1a5520 /src/modules/px4iofirmware/registers.c | |
| parent | 5a8dc9c504f70b4ce1b45f91b3bdd9b7126ef0d3 (diff) | |
| parent | db1229dca338890c4aef26e17ebc622e5ba61b59 (diff) | |
| download | px4-firmware-309ea8146055528c22395fca06b7a70b660c22b3.tar.gz px4-firmware-309ea8146055528c22395fca06b7a70b660c22b3.tar.bz2 px4-firmware-309ea8146055528c22395fca06b7a70b660c22b3.zip | |
Merged fmuv2_bringup
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 3ff9307cd..655a0c7a8 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -158,9 +158,10 @@ volatile uint16_t r_page_setup[] = #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ - PX4IO_P_SETUP_ARMING_IO_ARM_OK) | \ + PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ - PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE + PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -432,6 +433,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; // } + if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + } + r_setup_arming = value; break; @@ -523,6 +528,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID; r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; + /* clear any existing RC disabled flag */ + r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED); + /* set all options except the enabled option */ conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED; |