diff options
Diffstat (limited to 'apps/px4io/registers.c')
| -rw-r--r-- | apps/px4io/registers.c | 7 |
1 files changed, 7 insertions, 0 deletions
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c index d97fd8d86..511a47f8d 100644 --- a/apps/px4io/registers.c +++ b/apps/px4io/registers.c @@ -361,6 +361,13 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_PAGE_RC_CONFIG: { + + /* do not allow a RC config change while fully armed */ + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + break; + } + unsigned channel = offset / PX4IO_P_RC_CONFIG_STRIDE; unsigned index = offset - channel * PX4IO_P_RC_CONFIG_STRIDE; uint16_t *conf = &r_page_rc_input_config[channel * PX4IO_P_RC_CONFIG_STRIDE]; |