diff options
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 1f118ea2f..fe9166779 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -270,11 +270,14 @@ mixer_tick(void) * here. */ should_arm = ( - /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && - /* and IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && - /* and FMU is armed */ ( (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && - /* and there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) || - /* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) ) ) + /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) + /* and IO is armed */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) + /* and FMU is armed */ && ( + ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) + /* and there is valid input via or mixer */ && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ) + /* or direct PWM is set */ || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) + /* or failsafe was set manually */ || (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM) + ) ); should_always_enable_pwm = (r_setup_arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) |