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If we have seen control input from FMU, update the FMU_OK status flag.

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px4dev
2013-02-24 15:31:40 -08:00
parent dc74eeb421
commit 3d9901dfaf
1 changed files with 5 additions and 1 deletions
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apps/px4io/mixer.cpp
+5 -1
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@@ -94,9 +94,13 @@ mixer_tick(void)
if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
debug("AP RX timeout");
}
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_FMU_OK | PX4IO_P_STATUS_FLAGS_RAW_PWM);
r_status_alarms |= PX4IO_P_STATUS_ALARMS_FMU_LOST;
/* XXX this is questionable - vehicle may not make sense for direct control */
r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE;
} else {
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
}
source = MIX_FAILSAFE;