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Copter: set UARTs non-blocking at end of initialisation 

Previously we were setting to non-block after arming but this reduce the
chance of bumping into a NuttX USB driver issue that can cause the uart
to become unresponsive and also makes Copter consistent with Plane
This commit is contained in:
Randy Mackay 2014-07-11 15:27:29 +09:00
parent 34bc136a6c
commit 7f9cd20377
2 changed files with 9 additions and 9 deletions
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9
ArduCopter/motors.pde
View File

@ -139,15 +139,6 @@ static void init_arm_motors()
gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
#endif
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we arm
// the motors
hal.uartA->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
if (hal.uartD != NULL) {
hal.uartD->set_blocking_writes(false);
}
// Remember Orientation
// --------------------
init_simple_bearing();

9
ArduCopter/system.pde
View File

@ -278,6 +278,15 @@ static void init_ardupilot()
Log_Write_Startup();
#endif
// we don't want writes to the serial port to cause us to pause
// mid-flight, so set the serial ports non-blocking once we are
// ready to fly
hal.uartA->set_blocking_writes(false);
hal.uartC->set_blocking_writes(false);
if (hal.uartD != NULL) {
hal.uartD->set_blocking_writes(false);
}
cliSerial->print_P(PSTR("\nReady to FLY "));
}