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| author | Andrew Tridgell <tridge@samba.org> | 2014-11-05 21:20:03 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-16 21:02:14 +0100 |
| commit | ba811254536b6a080d4b3379106bf0e648a51eb0 (patch) | |
| tree | e2445c6e9af7e6e3e17800075cf11db6471129ed /src/modules/px4iofirmware | |
| parent | 6406e235d6f5cb37a914442036111f616b4b3839 (diff) | |
| download | px4-firmware-ba811254536b6a080d4b3379106bf0e648a51eb0.tar.gz px4-firmware-ba811254536b6a080d4b3379106bf0e648a51eb0.tar.bz2 px4-firmware-ba811254536b6a080d4b3379106bf0e648a51eb0.zip | |
px4io: added OVERRIDE_IMMEDIATE arming flag
this allows the flight code to choose whether FMU failure gives
immediate manual pilot control, or waits for the mode switch to go
past the override threshold
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 9 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 1 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 3 |
3 files changed, 12 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index ad60ee03e..e3cb8d820 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -417,6 +417,15 @@ controls_tick() { if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; + /* + if the FMU is dead then enable override if we have a + mixer and OVERRIDE_IMMEDIATE is set + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) + override = true; + if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 9b2e047cb..c7e9ae3eb 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -183,6 +183,7 @@ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ #define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ #define PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE (1 << 9) /* If set, the system will never return from a failsafe, but remain in failsafe once triggered. */ +#define PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE (1 << 10) /* If set then on FMU failure override is immediate. Othewise it waits for the mode switch to go past the override thrshold */ #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 49c2a9f56..fbfdd35db 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -191,7 +191,8 @@ volatile uint16_t r_page_setup[] = PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED | \ PX4IO_P_SETUP_ARMING_LOCKDOWN | \ PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE | \ - PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) + PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE | \ + PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) #define PX4IO_P_SETUP_RATES_VALID ((1 << PX4IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) |