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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-21 11:17:29 +0200 |
| commit | 5fbee2394522d8b0c7a78d2751783845d011b56d (patch) | |
| tree | 78f0b0b3148c915876b318847b4015472c89e264 /src/modules/px4iofirmware/registers.c | |
| parent | 2a58929ffde494ba7db0bd09178545d5d650b420 (diff) | |
| download | px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.gz px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.tar.bz2 px4-firmware-5fbee2394522d8b0c7a78d2751783845d011b56d.zip | |
Added flag to disable RC evaluation onboard of IO (raw values still forwarded)
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 3f241d29c..7cae09fef 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -158,7 +158,8 @@ 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_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) @@ -335,6 +336,10 @@ 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; @@ -427,6 +432,9 @@ 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; |