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HAL_ChibiOS: always send zero DShot when disarmed

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this prevents a misconfigured system (for example SERVOn_REVERSED=1)
from running a motor while disarmed.

See https://discuss.ardupilot.org/t/plane-4-1-0-beta/72434/34?u=tridge
This commit is contained in:
Andrew Tridgell 2021-07-02 07:50:40 +10:00
parent 455787869e
commit 7ac895db77
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1334,6 +1334,7 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
} }
#endif #endif
bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED; bool safety_on = hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED;
bool armed = hal.util->get_soft_armed();
memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH); memset((uint8_t *)group.dma_buffer, 0, DSHOT_BUFFER_LENGTH);
@ -1383,6 +1384,11 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
value += 47; value += 47;
} }
if (!armed) {
// when disarmed we always send a zero value
value = 0;
}
// according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc // according to sskaug requesting telemetry while trying to arm may interfere with the good frame calc
bool request_telemetry = telem_request_mask & chan_mask; bool request_telemetry = telem_request_mask & chan_mask;
uint16_t packet = create_dshot_packet(value, request_telemetry, group.bdshot.enabled); uint16_t packet = create_dshot_packet(value, request_telemetry, group.bdshot.enabled);