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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-07 19:41:41 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-07 19:41:41 +0200 |
| commit | 8567134d64f5d8e3c7aba7cebfdf56ffe56b44ed (patch) | |
| tree | a064422d978de124354b86e010a783f275be8c01 /src/modules/px4iofirmware | |
| parent | aa641b5c348b5236f5d7f882daa6a7b2ff98fd83 (diff) | |
| download | px4-firmware-8567134d64f5d8e3c7aba7cebfdf56ffe56b44ed.tar.gz px4-firmware-8567134d64f5d8e3c7aba7cebfdf56ffe56b44ed.tar.bz2 px4-firmware-8567134d64f5d8e3c7aba7cebfdf56ffe56b44ed.zip | |
Made pwm command sending continously, improved failsafe logic
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 16 |
1 files changed, 7 insertions, 9 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index a2193b526..123eb6778 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -98,7 +98,7 @@ mixer_tick(void) if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { isr_debug(1, "AP RX timeout"); } - r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); + r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK); r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; } else { @@ -112,12 +112,11 @@ mixer_tick(void) * Decide which set of controls we're using. */ - /* do not mix if mixer is invalid or if RAW_PWM mode is on and FMU is good */ + /* do not mix if RAW_PWM mode is on and FMU is good */ if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) && - !(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) { + (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) { - /* don't actually mix anything - we already have raw PWM values or - not a valid mixer. */ + /* don't actually mix anything - we already have raw PWM values */ source = MIX_NONE; } else { @@ -196,10 +195,9 @@ mixer_tick(void) bool should_arm = ( /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - /* there is valid input via direct PWM or mixer */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* FMU is available or FMU is not available but override is an option */ - ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) )) + /* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) || + /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ); if (should_arm && !mixer_servos_armed) { |