From 317515fb6a3d6e469681b53316d69c7669efdaf0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 18 Feb 2013 14:16:09 +1100
Subject: px4io: added INAIR_RESTART enable/disable flags

the autopilot code needs to know that in-air restart may happen, so it
should be something that is enabled, rather than on by default.
---
 apps/drivers/px4io/px4io.cpp | 18 +++++++++++++++++-
 1 file changed, 17 insertions(+), 1 deletion(-)

(limited to 'apps/drivers/px4io/px4io.cpp')

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index b2e0c6ee4..adb894371 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -367,7 +367,12 @@ PX4IO::init()
 	if (ret != OK)
 		return ret;
 
-	if (reg & PX4IO_P_SETUP_ARMING_ARM_OK) {
+	/*
+	 * in-air restart is only tried if the IO board reports it is
+	 * already armed, and has been configured for in-air restart
+	 */
+	if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) &&
+	    (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) {
 
 		/* WARNING: COMMANDER app/vehicle status must be initialized.
 		 * If this fails (or the app is not started), worst-case IO
@@ -450,6 +455,7 @@ PX4IO::init()
 		/* dis-arm IO before touching anything */
 		io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
 			PX4IO_P_SETUP_ARMING_ARM_OK |
+			PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK |
 			PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
 			PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
 
@@ -1164,6 +1170,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0);
 		break;
 
+	case PWM_SERVO_INAIR_RESTART_ENABLE:
+		/* set the 'in-air restart' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK);
+		break;
+
+	case PWM_SERVO_INAIR_RESTART_DISABLE:
+		/* unset the 'in-air restart' bit */
+		ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK, 0);
+		break;
+
 	case PWM_SERVO_SET_UPDATE_RATE:
 		/* set the requested rate */
 		if ((arg >= 50) && (arg <= 400)) {
-- 
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