From 4595cc65b8bd30ba084783660a541c57c3921dbb Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 13 Feb 2013 07:43:51 +0100
Subject: [PATCH] Reworked manual override flag, reworked arming slightly.
 Pending testing

---
 apps/drivers/px4io/px4io.cpp |  6 +++---
 apps/px4io/controls.c        | 14 ++++----------
 apps/px4io/protocol.h        |  5 ++---
 apps/px4io/registers.c       |  8 +++-----
 4 files changed, 12 insertions(+), 21 deletions(-)

diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp
index c65855b834..51ff3fb837 100644
--- a/apps/drivers/px4io/px4io.cpp
+++ b/apps/drivers/px4io/px4io.cpp
@@ -335,7 +335,7 @@ PX4IO::init()
 	/* dis-arm IO before touching anything */
 	io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
 		PX4IO_P_SETUP_ARMING_ARM_OK |
-		PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
+		PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
 		PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
 
 	/* publish RC config to IO */
@@ -541,9 +541,9 @@ PX4IO::io_set_arming_state()
 		clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;					
 	}
 	if (vstatus.flag_external_manual_override_ok) {
-		set |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
+		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	} else {
-		clear |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
+		clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	}
 
 	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
diff --git a/apps/px4io/controls.c b/apps/px4io/controls.c
index 8cd5235b73..b4a18bae6b 100644
--- a/apps/px4io/controls.c
+++ b/apps/px4io/controls.c
@@ -245,11 +245,12 @@ controls_main(void)
 		/*
 		 * Check for manual override.
 		 *
-		 * The OVERRIDE_OK feature must be set, and we must have R/C input.
+		 * The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
+		 * must have R/C input.
 		 * Override is enabled if either the hardcoded channel / value combination
 		 * is selected, or the AP has requested it.
 		 */
-		if ((r_setup_features & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK) && 
+		if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) && 
 			(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
 
 			bool override = false;
@@ -260,14 +261,7 @@ controls_main(void)
 			 *
 			 * XXX This should be configurable.
 			 */
-			if ((r_rc_valid & (1 << 4)) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
-				override = true;
-
-			/*
-			 * Check for an explicit manual override request from the AP.
-			 */
-			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
-				(r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE))
+			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (r_rc_values[4] > RC_CHANNEL_HIGH_THRESH))
 				override = true;
 
 			if (override) {
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h
index 6278e05d46..29a287e45c 100644
--- a/apps/px4io/protocol.h
+++ b/apps/px4io/protocol.h
@@ -136,12 +136,11 @@
 /* setup page */
 #define PX4IO_PAGE_SETUP		100
 #define PX4IO_P_SETUP_FEATURES			0
-#define PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK	(1 << 0) /* OK to switch to manual override */
 
 #define PX4IO_P_SETUP_ARMING			1	/* arming controls */
 #define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
-#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE	(1 << 2) /* request switch to manual override */
-#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3)
+#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
+#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3) /* OK to perform position / vector control (= position lock) */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_LOWRATE		3	/* 'low' PWM frame output rate in Hz */
diff --git a/apps/px4io/registers.c b/apps/px4io/registers.c
index 815563daa1..6229a6cc13 100644
--- a/apps/px4io/registers.c
+++ b/apps/px4io/registers.c
@@ -140,9 +140,9 @@ volatile uint16_t	r_page_setup[] =
 	[PX4IO_P_SETUP_IBATT_BIAS]		= 0
 };
 
-#define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK)
+#define PX4IO_P_SETUP_FEATURES_VALID	(0)
 #define PX4IO_P_SETUP_ARMING_VALID	(PX4IO_P_SETUP_ARMING_ARM_OK | \
-					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE)
+					 PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)
 #define PX4IO_P_SETUP_RATES_VALID	((1 << IO_SERVO_COUNT) - 1)
 #define PX4IO_P_SETUP_RELAYS_VALID	((1 << PX4IO_RELAY_CHANNELS) - 1)
 
@@ -283,9 +283,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			value &= PX4IO_P_SETUP_FEATURES_VALID;
 			r_setup_features = value;
 
-			/* update manual override state - disable if no longer OK */
-			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK))
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
+			/* no implemented feature selection at this point */
 
 			break;