diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-16 10:56:15 +0100 |
| commit | 8ffb9e29c62e645b48573439d4ebc70acfa7db54 (patch) | |
| tree | 9b4dfe17c7a91e62be529e17e4ca70e5b4497647 /src/modules/px4iofirmware/registers.c | |
| 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/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
1 files changed, 2 insertions, 6 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index ad4473073..42938b446 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -169,7 +169,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_IO_ARM_OK | \ PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \ PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \ - PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) + PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ + PX4IO_P_SETUP_ARMING_LOCKDOWN) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -453,11 +454,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * lockup of the IO arming state. */ - // 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; - // } - if (value & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) { r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK; } |