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HAL_PX4: implement BRD_SAFETYOPTION

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This commit is contained in:
Andrew Tridgell 2018-04-13 15:56:56 +10:00
parent 3c5c56253a
commit 41c037e30a
2 changed files with 25 additions and 0 deletions
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23
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -304,6 +304,29 @@ void PX4RCOutput::force_safety_pending_requests(void)
_safety_state_request_last_ms = now;
}
}
// also update safety button options if needed
if (now - _last_safety_options_check_ms > 1000) {
_last_safety_options_check_ms = now;
AP_BoardConfig *boardconfig = AP_BoardConfig::get_instance();
if (boardconfig) {
uint16_t desired_options = 0;
uint16_t options = boardconfig->get_safety_button_options();
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_OFF)) {
desired_options |= PWM_SERVO_SET_SAFETY_OPTION_DISABLE_BUTTON_OFF;
}
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_SAFETY_ON)) {
desired_options |= PWM_SERVO_SET_SAFETY_OPTION_DISABLE_BUTTON_ON;
}
if (!(options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) && hal.util->get_soft_armed()) {
desired_options |= PWM_SERVO_SET_SAFETY_OPTION_DISABLE_BUTTON_OFF | PWM_SERVO_SET_SAFETY_OPTION_DISABLE_BUTTON_ON;
}
if (_last_safety_options != desired_options) {
if (ioctl(_pwm_fd, PWM_SERVO_SET_SAFETY_OPTIONS, desired_options) == OK) {
_last_safety_options = desired_options;
}
}
}
}
}
void PX4RCOutput::force_safety_no_wait(void)

2
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -56,6 +56,8 @@ private:
uint32_t _rate_mask_main;
uint32_t _rate_mask_alt;
uint16_t _enabled_channels;
uint32_t _last_safety_options_check_ms;
uint16_t _last_safety_options = 0xFFFF;
struct {
int pwm_sub;
actuator_outputs_s outputs;