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px4io: only check SAFETY_OFF for allowing RC config changes and reboot

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If we check OUTPUTS_ARMED then we can't update trim values and scaling
in flight, as there is no way to clear OUTPUTS_ARMED.

If safety is on then it should be perfectly safe to update the mixer
and RC config or reboot for fw update
This commit is contained in:
Andrew Tridgell
2014-11-08 15:48:33 +11:00
parent 29f000dc31
commit c0b47d6a74
1 changed files with 3 additions and 10 deletions
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src/modules/px4iofirmware/registers.c
+3 -10
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@@ -412,7 +412,6 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num
* text handling function.
*/
return mixer_handle_text(values, num_values * sizeof(*values));
break;
default:
/* avoid offset wrap */
@@ -584,10 +583,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
break;
case PX4IO_P_SETUP_REBOOT_BL:
// do not reboot if FMU is armed and IO's safety is off
// this state defines an active system.
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
// don't allow reboot while armed
break;
}
@@ -633,12 +629,9 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
case PX4IO_PAGE_RC_CONFIG: {
/**
* do not allow a RC config change while outputs armed
* = FMU is armed and IO's safety is off
* this state defines an active system.
* do not allow a RC config change while safety is off
*/
if ((r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
(r_status_flags & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
break;
}