Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 18 Packages Projects Releases Wiki Activity

Commander: Add more documentation around USB reboots

Browse Source 
If the user disconnects USB we reboot the system to bring it back into a nominal condition before arming. Otherwise we would either have the USB stack running without a cable connected (code running for no reason, which is violating the principle of not running unnecessary code in aviation). Or we would not allow to arm at all if USB was ever connected, which can be confusing if the system is powered off a battery.
This commit is contained in:
Lorenz Meier
2020-04-08 17:39:24 +02:00
committed by Daniel Agar
parent a89bba470a
commit 18e78261ab
1 changed files with 7 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+7 -3
View File
@@ -1442,10 +1442,14 @@ Commander::run()
/* if the USB hardware connection went away, reboot */
if (status_flags.usb_connected && !system_power.usb_connected && shutdown_if_allowed()) {
/*
* apparently the USB cable went away but we are still powered,
* so lets reset to a classic non-usb state.
* Apparently the USB cable went away but we are still powered,
* so we bring the system back to a nominal state for flight.
* This is important to unload the USB stack of the OS which is
* a relatively complex piece of software that is non-essential
* for flight and continuing to run it would add a software risk
* without a need. The clean approach to unload it is to reboot.
*/
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting.")
mavlink_log_critical(&mavlink_log_pub, "USB disconnected, rebooting for flight safety")
px4_usleep(400000);
px4_shutdown_request(true, false);
}