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Allow IO safety off system handling as long as the total system is not live

This commit is contained in:
Lorenz Meier 2014-11-22 16:30:59 +01:00
parent 828163f2f5
commit 300705321a
1 changed files with 13 additions and 8 deletions
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19
src/modules/px4iofirmware/registers.c
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@ -407,10 +407,11 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
/* do not change the mixer if FMU is armed and IO's safety is off
* this state defines an active system. This check is done in the
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
}
break;
default:
@ -583,8 +584,10 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// 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)) {
// don't allow reboot while armed
break;
}
@ -631,9 +634,11 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
/**
* 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.
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
break;
}