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HAL_ChibiOS: fixed BRD_SAFETY_MASK on some boards

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for boards that have an IOMCU but also have a safety button on the FMU
this fixes the BRD_SAFETY_MASK
This commit is contained in:
Andrew Tridgell 2022-11-03 16:33:38 +11:00 committed by Randy Mackay
parent 02716eb379
commit 2f65a9b35a
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -2092,9 +2092,14 @@ void RCOutput::safety_update(void)
} }
#elif HAL_WITH_IO_MCU #elif HAL_WITH_IO_MCU
safety_state = _safety_switch_state(); safety_state = _safety_switch_state();
iomcu.set_safety_mask(safety_mask);
#endif #endif
#if HAL_WITH_IO_MCU
// regardless of if we have a FMU safety pin, if we have an IOMCU we need
// to pass the BRD_SAFETY_MASK to the IOMCU
iomcu.set_safety_mask(safety_mask);
#endif
#ifdef HAL_GPIO_PIN_LED_SAFETY #ifdef HAL_GPIO_PIN_LED_SAFETY
led_counter = (led_counter+1) % 16; led_counter = (led_counter+1) % 16;
const uint16_t led_pattern = safety_state==AP_HAL::Util::SAFETY_DISARMED?0x5500:0xFFFF; const uint16_t led_pattern = safety_state==AP_HAL::Util::SAFETY_DISARMED?0x5500:0xFFFF;