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Copter: setup default safety mask based on motor mask

This commit is contained in:
Andrew Tridgell 2016-10-21 11:53:59 +11:00
parent 7bf81c44b0
commit 9205416695
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/radio.cpp
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@ -85,8 +85,17 @@ void Copter::init_rc_out()
// refresh auxiliary channel to function map // refresh auxiliary channel to function map
RC_Channel_aux::update_aux_servo_function(); RC_Channel_aux::update_aux_servo_function();
#if FRAME_CONFIG != HELI_FRAME
/*
setup a default safety ignore mask, so that servo gimbals can be active while safety is on
*/
uint16_t safety_ignore_mask = (~copter.motors.get_motor_mask()) & 0x3FFF;
BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
#endif
} }
// enable_motor_output() - enable and output lowest possible value to motors // enable_motor_output() - enable and output lowest possible value to motors
void Copter::enable_motor_output() void Copter::enable_motor_output()
{ {