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Fix to RC param updates on IO

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This commit is contained in:
Lorenz Meier
2013-08-22 10:43:19 +02:00
parent e97c39a125
commit 85eafa323a
2 changed files with 7 additions and 2 deletions
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1
ROMFS/px4fmu_common/init.d/rcS
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@@ -187,6 +187,7 @@ if [ $MODE == autostart ]
then then
# Telemetry port is on both FMU boards ttyS1 # Telemetry port is on both FMU boards ttyS1
mavlink start -b 57600 -d /dev/ttyS1 mavlink start -b 57600 -d /dev/ttyS1
usleep 5000
# Start commander # Start commander
commander start commander start

8
src/modules/px4iofirmware/registers.c
View File

@@ -499,8 +499,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: { case PX4IO_PAGE_RC_CONFIG: {
/* do not allow a RC config change while outputs armed */ /**
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) { * do not allow a RC config change while outputs armed
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
break; break;
} }