diff options
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 75d80ba5d..58c9429b6 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -424,6 +424,15 @@ controls_tick() { if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(rc_value_override) < RC_CHANNEL_LOW_THRESH)) override = true; + /* + if the FMU is dead then enable override if we have a + mixer and OVERRIDE_IMMEDIATE is set + */ + if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) && + (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) + override = true; + if (override) { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; |