From f17871234bb420c7fd1b8aa21f6bbe172bcc3b33 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 21 Mar 2024 20:08:54 +0100 Subject: [PATCH] px4iofirmware: simplify lockdown logic --- src/modules/px4iofirmware/mixer.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 3b02242c8a..82d3320327 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -219,10 +219,9 @@ mixer_tick() isr_debug(5, "> PWM disabled"); } - const bool armed_output = (should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE)) - && !(r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN); - const bool disarmed_output = !armed_output - && (should_always_enable_pwm || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)); + const bool armed_output = should_arm || should_arm_nothrottle || (source == MIX_FAILSAFE); + const bool disarmed_output = (!armed_output && should_always_enable_pwm) + || (r_setup_arming & PX4IO_P_SETUP_ARMING_LOCKDOWN); if (mixer_servos_armed && (armed_output || disarmed_output)) { if (disarmed_output) {