From c85d7aae06b49f43e32dde05c00bcee1310aee9f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 28 Aug 2014 20:36:59 +0200 Subject: Make sure we got to valid input at least once before kicking in failsafe --- src/modules/px4iofirmware/mixer.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) (limited to 'src/modules/px4iofirmware/mixer.cpp') diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 0c65b7642..17751bd6d 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -71,6 +71,7 @@ extern "C" { static bool mixer_servos_armed = false; static bool should_arm = false; static bool should_always_enable_pwm = false; +static bool input_valid_initialized = false; /* the input was valid at least once */ static volatile bool in_mixer = false; /* selected control values and count for mixing */ @@ -162,7 +163,8 @@ mixer_tick(void) * failsafe condition. */ if ((r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) && - (source == MIX_FAILSAFE)) { + (source == MIX_FAILSAFE) && + input_valid_initialized) { r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } @@ -180,6 +182,9 @@ mixer_tick(void) r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE; } else { r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE); + + /* we got valid input, kick off the full failsafe checks */ + input_valid_initialized = true; } /* -- cgit v1.2.3