diff options
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index 848a88621..740d8aeb0 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -231,8 +231,9 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - bool should_arm = ((r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && - (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))); + bool should_arm = (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK))); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |