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px4-firmware
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Make sure we got to valid input at least once before kicking in failsafe

This commit is contained in:
Lorenz Meier 2014-08-28 20:36:59 +02:00
parent 91d50301c6
commit c85d7aae06
1 changed files with 6 additions and 1 deletions
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7
src/modules/px4iofirmware/mixer.cpp
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@ -71,6 +71,7 @@ extern "C" {
static bool mixer_servos_armed = false;
static bool should_arm = false;
static bool should_always_enable_pwm = false;
static bool input_valid_initialized = false; /* the input was valid at least once */
static volatile bool in_mixer = false;
/* selected control values and count for mixing */
@ -162,7 +163,8 @@ mixer_tick(void)
* failsafe condition.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) &&
(source == MIX_FAILSAFE)) {
(source == MIX_FAILSAFE) &&
input_valid_initialized) {
r_setup_arming |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
}
@ -180,6 +182,9 @@ mixer_tick(void)
r_status_flags |= PX4IO_P_STATUS_FLAGS_FAILSAFE;
} else {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FAILSAFE);
/* we got valid input, kick off the full failsafe checks */
input_valid_initialized = true;
}
/*