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Sub: stop pwm output before reboot

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Jacob Walser 2016-09-03 16:10:24 -04:00 committed by Andrew Tridgell
parent c62e882886
commit 8f6b3900a3
1 changed files with 8 additions and 0 deletions
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8
ArduSub/GCS_Mavlink.cpp
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@ -1518,6 +1518,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
// For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
hal.rcout->cork();
for(int i=0; i<RC_MAX_CHANNELS; i++ ) {
hal.rcout->write(i, 0);
}
hal.rcout->push();
AP_Notify::flags.firmware_update = 1;
sub.update_notify();
hal.scheduler->delay(200);