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Minor state machine improvements and fixes for IO safety / in-air restart handling

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Lorenz Meier
2013-06-12 12:30:42 +02:00
parent 1028bd932c
commit eb76d116cc
7 changed files with 78 additions and 36 deletions
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11
src/modules/px4iofirmware/mixer.cpp
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@@ -194,7 +194,7 @@ mixer_tick(void)
*/
bool should_arm = (
/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
/* there is valid input via direct PWM or mixer */ ((r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) ||
/* or failsafe was set manually */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)) &&
/* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)
@@ -204,11 +204,15 @@ mixer_tick(void)
/* need to arm, but not armed */
up_pwm_servo_arm(true);
mixer_servos_armed = true;
r_status_flags |= PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED;
isr_debug(5, "> armed");
} else if (!should_arm && mixer_servos_armed) {
/* armed but need to disarm */
up_pwm_servo_arm(false);
mixer_servos_armed = false;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED);
isr_debug(5, "> disarmed");
}
if (mixer_servos_armed) {
@@ -263,9 +267,8 @@ static unsigned mixer_text_length = 0;
void
mixer_handle_text(const void *buffer, size_t length)
{
/* do not allow a mixer change while fully armed */
if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) &&
/* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) {
/* do not allow a mixer change while outputs armed */
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return;
}