diff options
Diffstat (limited to 'apps/px4io')
| -rw-r--r-- | apps/px4io/comms.c | 25 |
1 files changed, 21 insertions, 4 deletions
diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 40ea38cf7..ffb7fd679 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -178,7 +178,7 @@ comms_handle_command(const void *buffer, size_t length) system_state.fmu_channel_data[i] = cmd->servo_command[i]; /* if the IO is armed and the FMU gets disarmed, the IO must also disarm */ - if(system_state.arm_ok && !cmd->arm_ok) { + if (system_state.arm_ok && !cmd->arm_ok) { system_state.armed = false; } @@ -191,9 +191,26 @@ comms_handle_command(const void *buffer, size_t length) // if (!system_state.arm_ok && system_state.armed) // system_state.armed = false; - /* XXX do relay changes here */ - for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) - system_state.relays[i] = cmd->relay_state[i]; + /* handle relay state changes here */ + for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++) { + if (system_state.relays[i] != cmd->relay_state[i]) { + switch (i) { + case 0: + POWER_ACC1(cmd->relay_state[i]); + break; + case 1: + POWER_ACC2(cmd->relay_state[i]); + break; + case 2: + POWER_RELAY1(cmd->relay_state[i]); + break; + case 3: + POWER_RELAY2(cmd->relay_state[i]); + break; + } + } + system_state.relays[i] != cmd->relay_state[i] + } irqrestore(flags); } |