Merged fmuv2_bringup

3 files changed, 14 insertions, 4 deletions

diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 38727c68c..deed25836 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -148,7 +148,8 @@ mixer_tick(void)
 
 		if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
 		     (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
-		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
+		     (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
+		     !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)) {
 
 		 	/* if allowed, mix from RC inputs directly */
 			source = MIX_OVERRIDE;
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 97809d9c2..f5fa0ba75 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -74,7 +74,7 @@
 #define REG_TO_FLOAT(_reg)	((float)REG_TO_SIGNED(_reg) / 10000.0f)
 #define FLOAT_TO_REG(_float)	SIGNED_TO_REG((int16_t)((_float) * 10000.0f))
 
-#define PX4IO_PROTOCOL_VERSION		3
+#define PX4IO_PROTOCOL_VERSION		4
 
 /* static configuration page */
 #define PX4IO_PAGE_CONFIG		0
@@ -159,6 +159,7 @@
 #define PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM	(1 << 3) /* use custom failsafe values, not 0 values of mixer */
 #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK	(1 << 4) /* OK to try in-air restart */
 #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE	(1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
+#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED	(1 << 6) /* Disable the IO-internal evaluation of the RC */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_DEFAULTRATE		3	/* 'low' PWM frame output rate in Hz */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 3ff9307cd..655a0c7a8 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -158,9 +158,10 @@ volatile uint16_t	r_page_setup[] =
 #define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_FMU_ARMED | \
 					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \
 					 PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \
-					 PX4IO_P_SETUP_ARMING_IO_ARM_OK) | \
+					 PX4IO_P_SETUP_ARMING_IO_ARM_OK | \
 					 PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM | \
-					 PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE
+					 PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE | \
+					 PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << PX4IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -432,6 +433,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			// 	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;
+			}
+
 			r_setup_arming = value;
 
 			break;
@@ -523,6 +528,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			value &= PX4IO_P_RC_CONFIG_OPTIONS_VALID;
 			r_status_flags |= PX4IO_P_STATUS_FLAGS_INIT_OK;
 
+			/* clear any existing RC disabled flag */
+			r_setup_arming &= ~(PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED);
+
 			/* set all options except the enabled option */
 			conf[index] = value & ~PX4IO_P_RC_CONFIG_OPTIONS_ENABLED;