From 69571c48c4fa742cfbfe9ce2333fc3d9c1f06034 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 13 May 2013 10:02:15 +0200 Subject: Fixed compile and logic errors, behaving now --- src/modules/px4iofirmware/mixer.cpp | 4 ++-- src/modules/px4iofirmware/registers.c | 9 +++++---- 2 files changed, 7 insertions(+), 6 deletions(-) (limited to 'src/modules') diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index f38593d2a..5ada1b220 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -174,7 +174,7 @@ mixer_tick(void) * here. */ bool should_arm = ( - /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && @@ -246,7 +246,7 @@ void mixer_handle_text(const void *buffer, size_t length) { /* do not allow a mixer change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { return; } diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 4f3addfea..61049c8b6 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -142,9 +142,10 @@ volatile uint16_t r_page_setup[] = }; #define PX4IO_P_SETUP_FEATURES_VALID (0) -#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \ +#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ - PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) + PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ + PX4IO_P_SETUP_ARMING_IO_ARM_OK) #define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -311,7 +312,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * so that an in-air reset of FMU can not lead to a * lockup of the IO arming state. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) { + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; } @@ -362,7 +363,7 @@ 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 fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { break; } -- cgit v1.2.3