diff options
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 1 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/registers.c | 8 |
2 files changed, 7 insertions, 2 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 8674c3c04..6b624b278 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -187,6 +187,7 @@ if [ $MODE == autostart ] then # Telemetry port is on both FMU boards ttyS1 mavlink start -b 57600 -d /dev/ttyS1 + usleep 5000 # Start commander commander start 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; } |