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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-24 17:37:01 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-24 17:37:01 +0100 |
| commit | bd15653b173029dfc12c3d4a73b897570e0867c0 (patch) | |
| tree | b69264f36ca1722604695234236b5aa7062e4afb /src/modules/px4iofirmware/registers.c | |
| parent | 33688fec9c66692e88a1b328fd022adc6e906853 (diff) | |
| download | px4-firmware-bd15653b173029dfc12c3d4a73b897570e0867c0.tar.gz px4-firmware-bd15653b173029dfc12c3d4a73b897570e0867c0.tar.bz2 px4-firmware-bd15653b173029dfc12c3d4a73b897570e0867c0.zip | |
Use the proper status registers for locking out from mixer updates and return the value of the mixer change.
Diffstat (limited to 'src/modules/px4iofirmware/registers.c')
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index ad4473073..2c437d2c0 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -382,7 +382,10 @@ 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: - mixer_handle_text(values, num_values * sizeof(*values)); + 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)); + } break; default: @@ -509,8 +512,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_P_SETUP_REBOOT_BL: if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { // don't allow reboot while armed break; } @@ -540,8 +542,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * do not allow a RC config change while outputs armed */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || - (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || - (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { break; } |