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AP_IOMCU: fixed a safety reset case for IOMCU reset

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if IOMCU resets in flight when user had disabled the safety switch
using the button then the IOCMU force safety code was not called
This commit is contained in:
Andrew Tridgell 2021-05-22 07:04:43 +10:00 committed by Peter Barker
parent 235c8a2d0c
commit 45d82887b3
2 changed files with 13 additions and 4 deletions
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8
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -1038,6 +1038,7 @@ void AP_IOMCU::check_iomcu_reset(void)
if (dt_ms < max_delay) { if (dt_ms < max_delay) {
// all OK // all OK
last_safety_off = reg_status.flag_safety_off;
return; return;
} }
detected_io_reset = true; detected_io_reset = true;
@ -1045,11 +1046,16 @@ void AP_IOMCU::check_iomcu_reset(void)
hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n", hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n",
unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms)); unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms));
if (safety_forced_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) { if (last_safety_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) {
AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
uint16_t options = boardconfig?boardconfig->get_safety_button_options():0;
if (safety_forced_off || (options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) == 0) {
// IOMCU has reset while armed with safety off - force it off // IOMCU has reset while armed with safety off - force it off
// again so we can keep flying // again so we can keep flying
force_safety_off(); force_safety_off();
} }
}
last_safety_off = reg_status.flag_safety_off;
// we need to ensure the mixer data and the rates are sent over to // we need to ensure the mixer data and the rates are sent over to
// the IOMCU // the IOMCU

3
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -154,6 +154,9 @@ private:
// have we forced the safety off? // have we forced the safety off?
bool safety_forced_off; bool safety_forced_off;
// was safety off on last status?
bool last_safety_off;
void send_servo_out(void); void send_servo_out(void);
void read_rc_input(void); void read_rc_input(void);
void read_servo(void); void read_servo(void);