diff options
Diffstat (limited to 'apps/px4io/mixer.cpp')
| -rw-r--r-- | apps/px4io/mixer.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/apps/px4io/mixer.cpp b/apps/px4io/mixer.cpp index ed74cb3d3..0fba2cbe5 100644 --- a/apps/px4io/mixer.cpp +++ b/apps/px4io/mixer.cpp @@ -170,9 +170,11 @@ mixer_tick(void) * XXX correct behaviour for failsafe may require an additional case * here. */ - 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))); + 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)) && + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)); if (should_arm && !mixer_servos_armed) { /* need to arm, but not armed */ |