forked from Archive/PX4-Autopilot
Reworked manual override flag, reworked arming slightly. Pending testing
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parent
d4ca6a29a1
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72de5b5ea7
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@ -335,7 +335,7 @@ PX4IO::init()
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/* dis-arm IO before touching anything */
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io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
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PX4IO_P_SETUP_ARMING_ARM_OK |
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PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
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PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
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PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
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/* publish RC config to IO */
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@ -541,9 +541,9 @@ PX4IO::io_set_arming_state()
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clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;
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}
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if (vstatus.flag_external_manual_override_ok) {
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set |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
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set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
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} else {
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clear |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
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clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
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}
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return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);
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@ -136,12 +136,11 @@
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/* setup page */
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#define PX4IO_PAGE_SETUP 100
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#define PX4IO_P_SETUP_FEATURES 0
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#define PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK (1 << 0) /* OK to switch to manual override */
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#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
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#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 2) /* request switch to manual override */
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#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3)
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#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */
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#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */
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#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
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#define PX4IO_P_SETUP_PWM_LOWRATE 3 /* 'low' PWM frame output rate in Hz */
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@ -284,7 +284,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
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r_setup_features = value;
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/* update manual override state - disable if no longer OK */
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if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK))
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if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK))
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r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
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break;
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