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AP_IOMCU: fixed a safety reset case for IOMCU reset 

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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14
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -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()) {
// IOMCU has reset while armed with safety off - force it off AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
// again so we can keep flying uint16_t options = boardconfig?boardconfig->get_safety_button_options():0;
force_safety_off(); 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
// again so we can keep flying
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);