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AP_BoardConfig: wait up to 0.4s for safety to be off on boot

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This commit is contained in:
Andrew Tridgell 2016-08-11 14:10:29 +10:00
parent dddaded8d4
commit 119e312cd3
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_BoardConfig/px4_drivers.cpp
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@ -146,6 +146,12 @@ void AP_BoardConfig::px4_setup_safety()
if (px4.safety_enable.get() == 0) { if (px4.safety_enable.get() == 0) {
hal.rcout->force_safety_off(); hal.rcout->force_safety_off();
hal.rcout->force_safety_no_wait();
// wait until safety has been turned off
uint8_t count = 20;
while (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_ARMED && count--) {
hal.scheduler->delay(20);
}
} }
} }