Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: try to load px4 mixer 10 times on boot

Browse Source 
this allows for possible temporary failures
This commit is contained in:
Andrew Tridgell 2015-06-02 21:59:03 +10:00
parent 3e74b82bc4
commit 47f4a5db10
2 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/Plane.h
View File

@ -761,7 +761,8 @@ private:
void update_cruise(); void update_cruise();
void update_fbwb_speed_height(void); void update_fbwb_speed_height(void);
void setup_turn_angle(void); void setup_turn_angle(void);
bool create_mixer_file(const char *filename); bool print_buffer(char *&buf, uint16_t &buf_size, const char *fmt, ...);
bool create_mixer(char *buf, uint16_t buf_size, const char *filename);
bool setup_failsafe_mixing(void); bool setup_failsafe_mixing(void);
void set_control_channels(void); void set_control_channels(void);
void init_rc_in(); void init_rc_in();

7
ArduPlane/system.cpp
View File

@ -105,7 +105,12 @@ void Plane::init_ardupilot()
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// this must be before BoardConfig.init() so if // this must be before BoardConfig.init() so if
// BRD_SAFETYENABLE==0 then we don't have safety off yet // BRD_SAFETYENABLE==0 then we don't have safety off yet
setup_failsafe_mixing(); for (uint8_t tries=0; tries<10; tries++) {
if (setup_failsafe_mixing()) {
break;
}
hal.scheduler->delay(10);
}
#endif #endif
BoardConfig.init(); BoardConfig.init();