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px4-firmware
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IO firmware: Ensure that in case of lockdown only the lockdown code writes servo outputs

This commit is contained in:
Lorenz Meier 2016-02-23 13:06:19 +01:00
parent 738d3cb123
commit 168f955e0c
1 changed files with 6 additions and 2 deletions
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8
src/modules/px4iofirmware/mixer.cpp
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@ -235,7 +235,8 @@ mixer_tick(void)
}
} else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
} else if (source != MIX_NONE && (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)
&& !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
float outputs[PX4IO_SERVO_COUNT];
unsigned mixed;
@ -286,7 +287,8 @@ mixer_tick(void)
isr_debug(5, "> PWM disabled");
}
if (mixer_servos_armed && (should_arm || should_arm_nothrottle)) {
if (mixer_servos_armed && (should_arm || should_arm_nothrottle)
&& !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)) {
/* update the servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servos[i]);
@ -306,6 +308,8 @@ mixer_tick(void)
/* set the disarmed servo outputs. */
for (unsigned i = 0; i < PX4IO_SERVO_COUNT; i++) {
up_pwm_servo_set(i, r_page_servo_disarmed[i]);
/* copy values into reporting register */
r_page_servos[i] = r_page_servo_disarmed[i];
}
/* set S.BUS1 or S.BUS2 outputs */