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IO mixer - cleanup FMU timeout check (comments and indentation)

This commit is contained in:
bresch 2019-04-01 12:07:56 +02:00 committed by Beat Küng
parent c576c57d7b
commit 776b1a28de
1 changed files with 6 additions and 13 deletions
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19
src/modules/px4iofirmware/mixer.cpp
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@ -223,20 +223,13 @@ mixer_tick(void)
);
/*
* Check if failsafe termination is set - if yes,
* set the force failsafe flag once entering the first
* failsafe condition.
* Check if FMU is still alive, if not, terminate the flight
*/
if ( /* Flight termination is allowed */
REG_TO_BOOL(r_setup_flighttermination) &&
/* If we ended up not changing the default mixer */
(source == MIX_DISARMED) &&
/* and we should be armed, so we intended to provide outputs */
should_arm &&
/* and FMU is initialized */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) {
/* FMU is then dead -> force failsafe */
PX4_ATOMIC_MODIFY_OR(r_setup_arming, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
if (REG_TO_BOOL(r_setup_flighttermination) && /* Flight termination is allowed */
(source == MIX_DISARMED) && /* and if we ended up not changing the default mixer */
should_arm && /* and we should be armed, so we intended to provide outputs */
(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED)) { /* and FMU is initialized */
PX4_ATOMIC_MODIFY_OR(r_setup_arming, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); /* then FMU is dead -> terminate flight */
}
/*