Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: fixed BRD_SAFETY_MASK on some boards

Browse Source 
for boards that have an IOMCU but also have a safety button on the FMU
this fixes the BRD_SAFETY_MASK
This commit is contained in:
Andrew Tridgell 2022-11-03 16:33:38 +11:00
parent 7e07859ec9
commit 5c4c950faf
1 changed files with 6 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -2092,6 +2092,11 @@ void RCOutput::safety_update(void)
} }
#elif HAL_WITH_IO_MCU #elif HAL_WITH_IO_MCU
safety_state = _safety_switch_state(); safety_state = _safety_switch_state();
#endif
#if HAL_WITH_IO_MCU
// regardless of if we have a FMU safety pin, if we have an IOMCU we need
// to pass the BRD_SAFETY_MASK to the IOMCU
iomcu.set_safety_mask(safety_mask); iomcu.set_safety_mask(safety_mask);
#endif #endif