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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:38:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-05-09 17:38:12 +0200 |
| commit | 26efba2ff365b1463ca9f6aaaf936557a92c4eb1 (patch) | |
| tree | 36ffc18f1544bb520ec7b8d9ca0688223c9f3e51 /src | |
| parent | fa1b7388f3485d8c7af42607b154f529d43153ea (diff) | |
| download | px4-firmware-26efba2ff365b1463ca9f6aaaf936557a92c4eb1.tar.gz px4-firmware-26efba2ff365b1463ca9f6aaaf936557a92c4eb1.tar.bz2 px4-firmware-26efba2ff365b1463ca9f6aaaf936557a92c4eb1.zip | |
New blink patterns for safety switch, removed GPS lock indicator
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 11 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 1 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/safety.c | 9 |
3 files changed, 5 insertions, 16 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b4703839b..e69fbebf7 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -502,8 +502,7 @@ PX4IO::init() io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK | PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | - PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); /* publish RC config to IO */ ret = io_set_rc_config(); @@ -707,11 +706,6 @@ PX4IO::io_set_arming_state() } else { clear |= PX4IO_P_SETUP_ARMING_ARM_OK; } - if (vstatus.flag_vector_flight_mode_ok) { - set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; - } else { - clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; - } if (vstatus.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; } else { @@ -1309,11 +1303,10 @@ PX4IO::print_status() /* setup and state */ printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES)); uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); - printf("arming 0x%04x%s%s%s%s\n", + printf("arming 0x%04x%s%s%s\n", arming, ((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); printf("rates 0x%04x default %u alt %u relays 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index b80551a07..d015fb629 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -147,7 +147,6 @@ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ -#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 5495d5ae1..a2880d2ef 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -56,11 +56,10 @@ static unsigned counter = 0; /* * Define the various LED flash sequences for each system state. */ -#define LED_PATTERN_SAFE 0xffff /**< always on */ -#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */ -#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */ +#define LED_PATTERN_SAFE 0x000f /**< always on */ +#define LED_PATTERN_FMU_ARMED 0x5555 /**< slow blinking */ #define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */ -#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */ +#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< long off then double blink */ static unsigned blink_counter = 0; @@ -151,8 +150,6 @@ safety_check_button(void *arg) } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { pattern = LED_PATTERN_FMU_ARMED; - } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) { - pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK; } /* Turn the LED on if we have a 1 at the current bit position */ |