From d0da7411b2ef1fd0aa63a47d1adf5f8dd82dfd8d Mon Sep 17 00:00:00 2001
From: Michael du Breuil <michael@swiftradioplanes.com>
Date: Sun, 4 Sep 2016 18:38:42 -0700
Subject: [PATCH] Plane: Fetch mixer status for assessing mixer success

---
 ArduPlane/px4_mixer.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/ArduPlane/px4_mixer.cpp b/ArduPlane/px4_mixer.cpp
index 333bb60f63..10377d5e64 100644
--- a/ArduPlane/px4_mixer.cpp
+++ b/ArduPlane/px4_mixer.cpp
@@ -239,6 +239,7 @@ bool Plane::setup_failsafe_mixing(void)
     int px4io_fd = -1;
     enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
     struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
+    unsigned mixer_status = 0;
 
     buf = (char *)malloc(buf_size);
     if (buf == NULL) {
@@ -390,6 +391,12 @@ bool Plane::setup_failsafe_mixing(void)
         goto failed;
     }
 
+    if (ioctl(px4io_fd, PWM_IO_GET_STATUS, (unsigned long)&mixer_status) != 0 ||
+        (mixer_status & PX4IO_P_STATUS_FLAGS_MIXER_OK) != 0) {
+        hal.console->printf("Mixer failed: 0x%04x\n", mixer_status);
+        goto failed;
+    }
+
     ret = true;
 
 failed: