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px4iofirmware: simplify lockdown logic

This commit is contained in:
Matthias Grob 2024-03-21 20:08:54 +01:00
parent 74ff65a12e
commit f17871234b
1 changed files with 3 additions and 4 deletions
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7
src/modules/px4iofirmware/mixer.cpp
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@ -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) {