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Add missing mixer ok check in override mode, clear FMU lost alarm when setting FMU_OK flag, print AP RX timeout in production mode as well

sbg
Lorenz Meier 12 years ago
parent
7c8942f46c
commit
cc628fbc27
1 changed files with 4 additions and 2 deletions
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  1. 6
      apps/px4io/mixer.cpp

6
apps/px4io/mixer.cpp
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@ -92,7 +92,7 @@ mixer_tick(void)
/* too long without FMU input, time to go to failsafe */ /* too long without FMU input, time to go to failsafe */
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) { if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
debug("AP RX timeout"); lowsyslog("AP RX timeout");
} }
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM); r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST; r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
@ -101,6 +101,7 @@ mixer_tick(void)
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else { } else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
r_status_alarms &= ~PX4IO_P_STATUS_ALARMS_FMU_LOST;
} }
source = MIX_FAILSAFE; source = MIX_FAILSAFE;
@ -123,7 +124,8 @@ mixer_tick(void)
} }
if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) && if ( (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) { (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
/* if allowed, mix from RC inputs directly */ /* if allowed, mix from RC inputs directly */
source = MIX_OVERRIDE; source = MIX_OVERRIDE;

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