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AP_BLHeli: fixed critical errors caused by BLHeli code

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This commit is contained in:
Andrew Tridgell 2019-10-28 16:03:07 +11:00
parent 5979c750f9
commit 3750ed2925
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -421,6 +421,7 @@ void AP_BLHeli::msp_process_command(void)
debug("MSP_SET_MOTOR %u", nmotors); debug("MSP_SET_MOTOR %u", nmotors);
SRV_Channels::set_disabled_channel_mask(0xFFFF); SRV_Channels::set_disabled_channel_mask(0xFFFF);
motors_disabled = true; motors_disabled = true;
EXPECT_DELAY_MS(1000);
hal.rcout->cork(); hal.rcout->cork();
for (uint8_t i = 0; i < nmotors; i++) { for (uint8_t i = 0; i < nmotors; i++) {
if (i >= num_motors) { if (i >= num_motors) {
@ -524,6 +525,7 @@ bool AP_BLHeli::BL_SendBuf(const uint8_t *buf, uint16_t len)
if (blheli.chan >= num_motors) { if (blheli.chan >= num_motors) {
return false; return false;
} }
EXPECT_DELAY_MS(1000);
if (!hal.rcout->serial_setup_output(motor_map[blheli.chan], 19200, motor_mask)) { if (!hal.rcout->serial_setup_output(motor_map[blheli.chan], 19200, motor_mask)) {
blheli.ack = ACK_D_GENERAL_ERROR; blheli.ack = ACK_D_GENERAL_ERROR;
return false; return false;
@ -557,6 +559,7 @@ bool AP_BLHeli::BL_ReadBuf(uint8_t *buf, uint16_t len)
{ {
bool check_crc = isMcuConnected() && len > 0; bool check_crc = isMcuConnected() && len > 0;
uint16_t req_bytes = len+(check_crc?3:1); uint16_t req_bytes = len+(check_crc?3:1);
EXPECT_DELAY_MS(1000);
uint16_t n = hal.rcout->serial_read_bytes(blheli.buf, req_bytes); uint16_t n = hal.rcout->serial_read_bytes(blheli.buf, req_bytes);
debug("BL_ReadBuf %u -> %u", len, n); debug("BL_ReadBuf %u -> %u", len, n);
if (req_bytes != n) { if (req_bytes != n) {
@ -594,6 +597,7 @@ uint8_t AP_BLHeli::BL_GetACK(uint16_t timeout_ms)
{ {
uint8_t ack; uint8_t ack;
uint32_t start_ms = AP_HAL::millis(); uint32_t start_ms = AP_HAL::millis();
EXPECT_DELAY_MS(1000);
while (AP_HAL::millis() - start_ms < timeout_ms) { while (AP_HAL::millis() - start_ms < timeout_ms) {
if (hal.rcout->serial_read_bytes(&ack, 1) == 1) { if (hal.rcout->serial_read_bytes(&ack, 1) == 1) {
return ack; return ack;
@ -1134,6 +1138,7 @@ void AP_BLHeli::run_connection_test(uint8_t chan)
run_test.set_and_notify(0); run_test.set_and_notify(0);
bool passed = false; bool passed = false;
for (uint8_t tries=0; tries<5; tries++) { for (uint8_t tries=0; tries<5; tries++) {
EXPECT_DELAY_MS(3000);
blheli.ack = ACK_OK; blheli.ack = ACK_OK;
setDisconnected(); setDisconnected();
if (BL_ConnectEx()) { if (BL_ConnectEx()) {