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IO Firmware: Let pilot take control if FMU is down

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Lorenz Meier
2015-12-07 15:34:24 +01:00
parent 4bce677703
commit 47ff8b6bc9
1 changed files with 1 additions and 1 deletions
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src/modules/px4iofirmware/controls.c
+1 -1
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@@ -487,7 +487,7 @@ controls_tick()
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
if ((!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) || (r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {