px4iofirmware: clean up override decision

The override checking was scattered across two places and is now unified
in controls_tick(). The part in mixer_tick only decides which mixer (or
none) to use give the override flag.

src/modules/px4iofirmware/controls.c

@@ -486,6 +486,7 @@ controls_tick()
 	if ((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) &&
+	    !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED) &&
 	    (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK)) {
 
 		bool override = false;
@@ -506,9 +507,14 @@ controls_tick()
 		 * If the FMU is dead then enable override if we have a mixer
 		 * and we want to immediately override (instead of using the RC channel
 		 * as in the case above.
+		 *
+		 * Also, do not enter manual override if we asked for termination
+		 * failsafe and FMU is lost.
 		 */
 		if (!(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
-		    (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE)) {
+		    (r_setup_arming & PX4IO_P_SETUP_ARMING_OVERRIDE_IMMEDIATE) &&
+		    !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)
+		    ) {
 			override = true;
 		}
 

src/modules/px4iofirmware/mixer.cpp

@@ -121,16 +121,10 @@ mixer_tick(void)
 	 * Decide which set of controls we're using.
 	 */
 
-	bool override_enabled = ((r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) &&
-				 (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
-				 (r_status_flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) &&
-				 !(r_setup_arming & PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED));
-
-	/* do not mix if RAW_PWM mode is on and FMU is good */
+	/* Do not mix if we have raw PWM and FMU is ok. */
 	if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) &&
 	    (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
 
-		/* don't actually mix anything - we already have raw PWM values */
 		source = MIX_NONE;
 
 	} else {
@@ -143,19 +137,16 @@ mixer_tick(void)
 			source = MIX_FMU;
 		}
 
-		if (override_enabled &&
-		    !(r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) &&
-		    /* do not enter manual override if we asked for termination failsafe and FMU is lost */
-		    !(r_setup_arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE)) {
-
-			/* if allowed, mix from RC inputs directly */
-			source = MIX_OVERRIDE;
+		else if (r_status_flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) {
 
-		} else 	if (override_enabled &&
-			    (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK)) {
+			if (r_status_flags & PX4IO_P_STATUS_FLAGS_FMU_OK) {
 
-			/* if allowed, mix from RC inputs directly up to available rc channels */
-			source = MIX_OVERRIDE_FMU_OK;
+				/* if allowed, mix from RC inputs directly up to available rc channels */
+				source = MIX_OVERRIDE_FMU_OK;
+			} else {
+				/* if allowed, mix from RC inputs directly */
+				source = MIX_OVERRIDE;
+			}
 		}
 	}