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Use the proper status registers for locking out from mixer updates and return the value of the mixer change.

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Lorenz Meier
2014-01-24 17:37:01 +01:00
parent 33688fec9c
commit bd15653b17
1 changed files with 6 additions and 5 deletions
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src/modules/px4iofirmware/registers.c
+6 -5
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@@ -382,7 +382,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
/* handle text going to the mixer parser */
case PX4IO_PAGE_MIXERLOAD:
mixer_handle_text(values, num_values * sizeof(*values));
if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
return mixer_handle_text(values, num_values * sizeof(*values));
}
break;
default:
@@ -509,8 +512,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_P_SETUP_REBOOT_BL:
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
// don't allow reboot while armed
break;
}
@@ -540,8 +542,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
* do not allow a RC config change while outputs armed
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ||
(r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ||
(r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED)) {
break;
}