From c0b47d6a74197a0dc57c56efbd63803424a9835a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 8 Nov 2014 15:48:33 +1100 Subject: px4io: only check SAFETY_OFF for allowing RC config changes and reboot If we check OUTPUTS_ARMED then we can't update trim values and scaling in flight, as there is no way to clear OUTPUTS_ARMED. If safety is on then it should be perfectly safe to update the mixer and RC config or reboot for fw update --- src/modules/px4iofirmware/registers.c | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) (limited to 'src/modules/px4iofirmware/registers.c') diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index a1a02965f..f0c2cfd26 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -412,7 +412,6 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num * text handling function. */ return mixer_handle_text(values, num_values * sizeof(*values)); - break; default: /* avoid offset wrap */ @@ -584,10 +583,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) break; case PX4IO_P_SETUP_REBOOT_BL: - // do not reboot if FMU is armed and IO's safety is off - // this state defines an active system. - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && - (r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { // don't allow reboot while armed break; } @@ -633,12 +629,9 @@ 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 - * = FMU is armed and IO's safety is off - * this state defines an active system. + * do not allow a RC config change while safety is off */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) && - (r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { + if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) { break; } -- cgit v1.2.3