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AP_IOMCU: force safety off on IOMCU reset 

if safety was forced off previously and we get an IOMCU reset then
force it off when the reset happens so vehicle can keep flying
This commit is contained in:
Andrew Tridgell 2020-05-12 20:26:37 +10:00
parent 782c91474e
commit 87ac0f42aa
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_IOMCU/AP_IOMCU.cpp
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@ -1012,6 +1012,13 @@ void AP_IOMCU::check_iomcu_reset(void)
AP::internalerror().error(AP_InternalError::error_t::iomcu_reset); AP::internalerror().error(AP_InternalError::error_t::iomcu_reset);
hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n", hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n",
unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms)); unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms));
if (safety_forced_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) {
// IOMCU has reset while armed with safety off - force it off
// again so we can keep flying
force_safety_off();
}
// we need to ensure the mixer data and the rates are sent over to // we need to ensure the mixer data and the rates are sent over to
// the IOMCU // the IOMCU
if (mixing.enabled) { if (mixing.enabled) {