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px4fmu: prevent checking of safety switch parameter in main loop

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Andrew Tridgell
2016-04-11 19:44:44 +10:00
committed by Lorenz Meier
parent 3fda934d1b
commit 05790ff540
1 changed files with 5 additions and 1 deletions
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src/drivers/px4fmu/fmu.cpp
+5 -1
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@@ -214,6 +214,7 @@ private:
unsigned _num_failsafe_set;
unsigned _num_disarmed_set;
bool _safety_off;
bool _safety_disabled;
orb_advert_t _to_safety;
static bool arm_nothrottle() { return (_armed.prearmed && !_armed.armed); }
@@ -382,6 +383,7 @@ PX4FMU::PX4FMU() :
_num_failsafe_set(0),
_num_disarmed_set(0),
_safety_off(false),
_safety_disabled(false),
_to_safety(nullptr)
{
for (unsigned i = 0; i < _max_actuators; i++) {
@@ -460,6 +462,8 @@ PX4FMU::init()
warnx("FAILED registering class device");
}
_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
work_start();
return OK;
@@ -1086,7 +1090,7 @@ PX4FMU::cycle()
*/
struct safety_s safety = {};
if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
if (_safety_disabled) {
/* safety switch disabled, turn LED on solid */
stm32_gpiowrite(GPIO_LED_SAFETY, 0);
_safety_off = true;