diff options
-rw-r--r-- | apps/px4io/controls.c | 14 | ||||
-rw-r--r-- | apps/px4io/registers.c | 8 |
2 files changed, 7 insertions, 15 deletions
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c index 8cd5235b7..b4a18bae6 100644 --- a/apps/px4io/controls.c +++ b/apps/px4io/controls.c @@ -245,11 +245,12 @@ controls_main(void) /* * Check for manual override. * - * The OVERRIDE_OK feature must be set, and we must have R/C input. + * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we + * must have R/C input. * Override is enabled if either the hardcoded channel / value combination * is selected, or the AP has requested it. */ - if ((r_setup_features & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) && + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { bool override = false; @@ -260,14 +261,7 @@ controls_main(void) * * XXX This should be configurable. */ - if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH)) - override = true; - - /* - * Check for an explicit manual override request from the AP. - */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && - (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH)) override = true; if (override) { diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index d0796ba29..6229a6cc1 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -140,9 +140,9 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_IBATT_BIAS] = 0 }; -#define PX4IO_P_SETUP_FEATURES_VALID (PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) +#define PX4IO_P_SETUP_FEATURES_VALID (0) #define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \ - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE) + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) #define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -283,9 +283,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) value &= PX4IO_P_SETUP_FEATURES_VALID; r_setup_features = value; - /* update manual override state - disable if no longer OK */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)) - r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; + /* no implemented feature selection at this point */ break; |