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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/safety.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/safety.c')
| -rw-r--r-- | src/modules/px4iofirmware/safety.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 4dbecc274..95335f038 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -110,7 +110,7 @@ safety_check_button(void *arg) * state machine, keep ARM_COUNTER_THRESHOLD the same * length in all cases of the if/else struct below. */ - if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) { if (counter < ARM_COUNTER_THRESHOLD) { @@ -118,18 +118,18 @@ safety_check_button(void *arg) } else if (counter == ARM_COUNTER_THRESHOLD) { /* switch to armed state */ - r_status_flags |= PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } - } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)) { if (counter < ARM_COUNTER_THRESHOLD) { counter++; } else if (counter == ARM_COUNTER_THRESHOLD) { /* change to disarmed state and notify the FMU */ - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF; counter++; } @@ -140,7 +140,7 @@ safety_check_button(void *arg) /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM; - if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) { pattern = LED_PATTERN_IO_FMU_ARMED; |