Reworked manual override flag, reworked arming slightly. Pending testing

apps/drivers/px4io/px4io.cpp

@@ -335,7 +335,7 @@ PX4IO::init()
 	/* dis-arm IO before touching anything */
 	io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 
 		PX4IO_P_SETUP_ARMING_ARM_OK |
-		PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
+		PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK |
 		PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
 
 	/* publish RC config to IO */
@@ -541,9 +541,9 @@ PX4IO::io_set_arming_state()
 		clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK;					
 	}
 	if (vstatus.flag_external_manual_override_ok) {
-		set |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
+		set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	} else {
-		clear |= PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK;
+		clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
 	}
 
 	return io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, clear, set);

apps/px4io/protocol.h

@@ -136,12 +136,11 @@
 /* setup page */
 #define PX4IO_PAGE_SETUP		100
 #define PX4IO_P_SETUP_FEATURES			0
-#define PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK	(1 << 0) /* OK to switch to manual override */
 
 #define PX4IO_P_SETUP_ARMING			1	/* arming controls */
 #define PX4IO_P_SETUP_ARMING_ARM_OK		(1 << 0) /* OK to arm */
-#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE	(1 << 2) /* request switch to manual override */
-#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3)
+#define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK	(1 << 2) /* OK to switch to manual override via override RC channel */
+#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK	(1 << 3) /* OK to perform position / vector control (= position lock) */
 
 #define PX4IO_P_SETUP_PWM_RATES			2	/* bitmask, 0 = low rate, 1 = high rate */
 #define PX4IO_P_SETUP_PWM_LOWRATE		3	/* 'low' PWM frame output rate in Hz */

apps/px4io/registers.c

@@ -284,7 +284,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			r_setup_features = value;
 
 			/* update manual override state - disable if no longer OK */
-			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_FEAT_ARMING_MANUAL_OVERRIDE_OK))
+			if ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && !(value & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK))
 				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
 
 			break;