From 85eafa323aec397e4ed5c394f25d48ce6d878f9f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 22 Aug 2013 10:43:19 +0200 Subject: Fix to RC param updates on IO --- src/modules/px4iofirmware/registers.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'src/modules/px4iofirmware/registers.c') diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 655a0c7a8..9c95fd1c5 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -499,8 +499,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { - /* do not allow a RC config change while outputs armed */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { + /** + * do not allow a RC config change while outputs armed + */ + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) || + (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) || + (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { break; } -- cgit v1.2.3