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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-12 12:30:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-12 12:30:42 +0200 |
| commit | eb76d116cc67c6354c29fa41e49b4cf9df1a472d (patch) | |
| tree | cac2f06b21498be1f292772daf906ef1526719b6 /src/modules/px4iofirmware/registers.c | |
| parent | 1028bd932cfd08366dd0dcb8c189ebcf88cce53a (diff) | |
| download | px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.tar.gz px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.tar.bz2 px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.zip | |
Minor state machine improvements and fixes for IO safety / in-air restart handling
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index df7d6dcd3..a092fc93b 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -317,9 +317,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * so that an in-air reset of FMU can not lead to a * lockup of the IO arming state. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; - } + + // XXX do not reset IO's safety state by FMU for now + // if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + // r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + // } r_setup_arming = value; @@ -367,9 +369,8 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { - /* do not allow a RC config change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + /* do not allow a RC config change while outputs armed */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { break; } |