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Plane: fixed handling of OVERRIDE_CHAN on arming

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When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
This commit is contained in:
Andrew Tridgell 2015-06-08 21:05:58 +10:00
parent c44ab01be8
commit bc6a52f8db
2 changed files with 14 additions and 4 deletions
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14
ArduPlane/control_modes.cpp
View File

@ -72,9 +72,6 @@ void Plane::read_control_switch()
if (hal.util->get_soft_armed() || setup_failsafe_mixing()) {
px4io_override_enabled = true;
// disable output channels to force PX4IO override
for (uint8_t i=0; i<16; i++) {
hal.rcout->disable_ch(i);
}
gcs_send_text_P(SEVERITY_LOW, PSTR("PX4IO Override enabled"));
} else {
// we'll try again next loop. The PX4IO code sometimes
@ -98,6 +95,17 @@ void Plane::read_control_switch()
// re-arm and take manual control
hal.rcout->force_safety_off();
}
if (px4io_override_enabled) {
/*
ensure that all channels are disabled from the FMU. If
PX4IO receives any channel input from the FMU then it
will think the FMU is still active and won't enable the
internal mixer.
*/
for (uint8_t i=0; i<16; i++) {
hal.rcout->disable_ch(i);
}
}
}
#endif // CONFIG_HAL_BOARD
}

4
ArduPlane/system.cpp
View File

@ -748,7 +748,9 @@ bool Plane::arm_motors(AP_Arming::ArmingMethod method)
}
//only log if arming was successful
channel_throttle->enable_out();
if (!px4io_override_enabled) {
channel_throttle->enable_out();
}
change_arm_state();
return true;
}