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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-22 10:43:19 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-22 10:43:19 +0200 |
commit | 85eafa323aec397e4ed5c394f25d48ce6d878f9f (patch) | |
tree | 7ee6faaf1948c861172ff7442b9bfa90b5e899cd /src/modules | |
parent | e97c39a125e49e637a309127754c8de0cc3ad7d5 (diff) | |
download | px4-firmware-85eafa323aec397e4ed5c394f25d48ce6d878f9f.tar.gz px4-firmware-85eafa323aec397e4ed5c394f25d48ce6d878f9f.tar.bz2 px4-firmware-85eafa323aec397e4ed5c394f25d48ce6d878f9f.zip |
Fix to RC param updates on IO
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 655a0c7a8..9c95fd1c5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -499,8 +499,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { - /* do not allow a RC config change while outputs armed */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + /** + * 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)) { break; } |