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px4iofirmware: allow override when RAW_PWM is active 

if override is enabled then it should apply even if RAW_PWM is being
supplied by the FMU
This commit is contained in:
Andrew Tridgell 2015-06-21 18:02:31 +10:00 committed by Lorenz Meier
parent f38b1bf160
commit 3f6f030fc4
1 changed files with 7 additions and 8 deletions
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15
src/modules/px4iofirmware/mixer.cpp
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@ -121,6 +121,11 @@ mixer_tick(void)
* Decide which set of controls we're using.
*/
bool override_enabled = ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED));
/* do not mix if RAW_PWM mode is on and FMU is good */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
@ -138,10 +143,7 @@ mixer_tick(void)
source = MIX_FMU;
}
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
if (override_enabled &&
!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
/* do not enter manual override if we asked for termination failsafe and FMU is lost */
!(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) {
@ -149,10 +151,7 @@ mixer_tick(void)
/* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE;
} else if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
!(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
} else if (override_enabled &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
/* if allowed, mix from RC inputs directly up to available rc channels */