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px4-firmware
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Again some hacking to make arming/disarming work for now

This commit is contained in:
Julian Oes 2012-11-06 19:03:08 -08:00
parent 7da799d154
commit 74f7600602
5 changed files with 20 additions and 13 deletions
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10
apps/px4io/comms.c
View File

@ -148,13 +148,19 @@ comms_handle_command(const void *buffer, size_t length)
for (unsigned i = 0; i < PX4IO_OUTPUT_CHANNELS; i++)
system_state.fmu_channel_data[i] = cmd->servo_command[i];
/* if the IO is armed and the FMU gets disarmed, the IO must also disarm */
if(system_state.arm_ok && !cmd->arm_ok) {
system_state.armed = false;
}
system_state.arm_ok = cmd->arm_ok;
system_state.mixer_use_fmu = true;
system_state.fmu_data_received = true;
/* handle changes signalled by FMU */
if (!system_state.arm_ok && system_state.armed)
system_state.armed = false;
// if (!system_state.arm_ok && system_state.armed)
// system_state.armed = false;
/* XXX do relay changes here */
for (unsigned i = 0; i < PX4IO_RELAY_CHANNELS; i++)

14
apps/px4io/mixer.c
View File

@ -93,7 +93,7 @@ static void mixer_get_rc_input(void);
static void mixer_update(int mixer, uint16_t *inputs, int input_count);
/* current servo arm/disarm state */
bool mixer_servos_armed;
bool mixer_servos_armed = false;
/*
* Each mixer consumes a set of inputs and produces a single output.
@ -182,10 +182,10 @@ mixer_tick(void *arg)
system_state.fmu_data_received = false;
}
} else if (system_state.rc_channels > 0) {
/* we have control data from an R/C input */
control_count = system_state.rc_channels;
control_values = &system_state.rc_channel_data[0];
// } else if (system_state.rc_channels > 0) {
// /* we have control data from an R/C input */
// control_count = system_state.rc_channels;
// control_values = &system_state.rc_channel_data[0];
} else {
/* we have no control input */
@ -202,7 +202,7 @@ mixer_tick(void *arg)
/*
* If we are armed, update the servo output.
*/
if (system_state.armed)
if (system_state.armed && system_state.arm_ok)
up_pwm_servo_set(i, mixers[i].current_value);
}
}
@ -210,7 +210,7 @@ mixer_tick(void *arg)
/*
* Decide whether the servos should be armed right now.
*/
should_arm = system_state.armed && (control_count > 0);
should_arm = system_state.armed && system_state.arm_ok && (control_count > 0);
if (should_arm && !mixer_servos_armed) {
/* need to arm, but not armed */
up_pwm_servo_arm(true);

3
apps/px4io/px4io.c
View File

@ -133,8 +133,9 @@ int user_start(int argc, char *argv[])
/* print some simple status */
if (timers[TIMER_STATUS_PRINT] == 0) {
timers[TIMER_STATUS_PRINT] = 1000;
lib_lowprintf("%c %s | %s | %s | C=%d F=%d B=%d \r",
lib_lowprintf("%c %s | %s | %s | %s | C=%d F=%d B=%d \r",
cursor[cycle++ & 3],
(system_state.arm_ok ? "FMU_ARMED" : "FMU_SAFE"),
(system_state.armed ? "ARMED" : "SAFE"),
(system_state.rc_channels ? "RC OK" : "NO RC"),
(system_state.mixer_use_fmu ? "FMU OK" : "NO FMU"),

2
apps/px4io/px4io.h
View File

@ -68,7 +68,7 @@
struct sys_state_s
{
bool armed; /* actually armed */
bool armed; /* IO armed */
bool arm_ok; /* FMU says OK to arm */
/*

4
apps/px4io/safety.c
View File

@ -76,9 +76,9 @@ safety_check_button(void *arg)
/*
* Debounce the safety button, change state if it has been held for long enough.
*
* Ignore the button if FMU has not said it's OK to arm yet.
*/
if (BUTTON_SAFETY && system_state.arm_ok) {
if (BUTTON_SAFETY) {
if (arm_counter < ARM_COUNTER_THRESHOLD) {
arm_counter++;
} else if (arm_counter == ARM_COUNTER_THRESHOLD) {