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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 16:30:59 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-22 16:30:59 +0100 |
| commit | 300705321a0ffa79ab3d4d53e3c029fe8238086a (patch) | |
| tree | 0d916352d41a96b29fce715cbeae3ee8e2595e2b /src/modules/px4iofirmware/registers.c | |
| parent | 828163f2f5c6b68d9f262b1dd4f57e641c1d45a6 (diff) | |
| download | px4-firmware-300705321a0ffa79ab3d4d53e3c029fe8238086a.tar.gz px4-firmware-300705321a0ffa79ab3d4d53e3c029fe8238086a.tar.bz2 px4-firmware-300705321a0ffa79ab3d4d53e3c029fe8238086a.zip | |
Allow IO safety off system handling as long as the total system is not live
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 21 |
1 files changed, 13 insertions, 8 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index fbfdd35db..a1a02965f 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -407,10 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { - return mixer_handle_text(values, num_values * sizeof(*values)); - } + /* do not change the mixer if FMU is armed and IO's safety is off + * this state defines an active system. This check is done in the + * text handling function. + */ + return mixer_handle_text(values, num_values * sizeof(*values)); break; default: @@ -583,8 +584,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_REBOOT_BL: - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + // do not reboot if FMU is armed and IO's safety is off + // this state defines an active system. + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && + (r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { // don't allow reboot while armed break; } @@ -631,9 +634,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) /** * do not allow a RC config change while outputs armed + * = FMU is armed and IO's safety is off + * this state defines an active system. */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && + (r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { break; } |