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GCS_MAVLink: move mavlink reboot code up to base class

This commit is contained in:
Peter Barker 2017-07-24 09:53:51 +10:00 committed by Peter Barker
parent 73bbe8b84e
commit 11df6debd0
2 changed files with 32 additions and 3 deletions
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6
libraries/GCS_MAVLink/GCS.h
View File

@ -309,7 +309,9 @@ protected:
void handle_common_message(mavlink_message_t *msg);
void handle_set_gps_global_origin(const mavlink_message_t *msg);
void handle_setup_signing(const mavlink_message_t *msg);
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
virtual bool should_disable_overrides_on_reboot() const { return true; }
virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet);
MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
@ -556,6 +558,8 @@ private:
struct Location global_position_current_loc;
void send_global_position_int();
void zero_rc_outputs();
};
/// @class GCS

29
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1769,6 +1769,18 @@ void GCS_MAVLINK::send_vfr_hud()
vfr_hud_climbrate());
}
void GCS_MAVLINK::zero_rc_outputs()
{
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
// For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
SRV_Channels::cork();
for (int i=0; i<NUM_RC_CHANNELS; i++) {
// Set to 1 because 0 is interpreted as flag to ignore update
hal.rcout->write(i, 1);
}
SRV_Channels::push();
}
/*
handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command
@ -1777,10 +1789,10 @@ void GCS_MAVLINK::send_vfr_hud()
motors. That can be dangerous when a preflight reboot is done with
the pilot close to the aircraft and can also damage the aircraft
*/
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides)
MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
if (disable_overrides) {
if (should_disable_overrides_on_reboot()) {
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// disable overrides while rebooting
int px4io_fd = open("/dev/px4io", 0);
@ -1797,8 +1809,17 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
}
#endif
}
if (should_zero_rc_outputs_on_reboot()) {
reboot_zero_rc_outputs();
}
// send ack before we reboot
mavlink_msg_command_ack_send(chan, packet.command, MAV_RESULT_ACCEPTED);
// Notify might want to blink some LEDs:
AP_Notify *notify = AP_Notify::instance();
if (notify) {
AP_Notify::flags.firmware_update = 1;
notify->update();
}
// force safety on
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
@ -2665,6 +2686,10 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_message(mavlink_command_long_t &pack
result = handle_command_do_send_banner(packet);
break;
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
result = handle_preflight_reboot(packet);
break;
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL: {