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AP_BoardConfig: allow programmatic setting of default safety mask

This commit is contained in:
Andrew Tridgell 2016-10-21 11:53:34 +11:00
parent 750aa2ef8a
commit 7bf81c44b0
3 changed files with 23 additions and 2 deletions
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9
libraries/AP_BoardConfig/AP_BoardConfig.cpp
View File

@ -168,3 +168,12 @@ void AP_BoardConfig::init()
hal.util->set_imu_target_temp((int8_t *)&_imu_target_temperature);
#endif
}
// set default value for BRD_SAFETY_MASK
void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
px4.ignore_safety_channels.set_default(mask);
px4_setup_safety_mask();
#endif
}

4
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -59,6 +59,9 @@ public:
};
#endif
// set default value for BRD_SAFETY_MASK
void set_default_safety_ignore_mask(uint16_t mask);
private:
AP_Int16 vehicleSerialNumber;
@ -81,6 +84,7 @@ private:
void px4_setup(void);
void px4_setup_pwm(void);
void px4_setup_safety(void);
void px4_setup_safety_mask(void);
void px4_setup_uart(void);
void px4_setup_sbus(void);
void px4_setup_canbus(void);

10
libraries/AP_BoardConfig/px4_drivers.cpp
View File

@ -132,7 +132,7 @@ void AP_BoardConfig::px4_setup_uart()
/*
setup safety switch
*/
void AP_BoardConfig::px4_setup_safety()
void AP_BoardConfig::px4_setup_safety_mask()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
// setup channels to ignore the armed state
@ -157,6 +157,14 @@ void AP_BoardConfig::px4_setup_safety()
close(px4io_fd);
}
#endif
}
/*
setup safety switch
*/
void AP_BoardConfig::px4_setup_safety()
{
px4_setup_safety_mask();
if (px4.safety_enable.get() == 0) {
hal.rcout->force_safety_off();