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Copter: prevent reset on compassmot due to watchdog

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This commit is contained in:
Andrew Tridgell 2019-05-07 11:59:14 +10:00 committed by Randy Mackay
parent 59669209fe
commit 92741c4e80
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/compassmot.cpp
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@ -124,6 +124,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
interference_pct[i] = 0.0f; interference_pct[i] = 0.0f;
} }
hal.scheduler->expect_delay_ms(5000);
// enable motors and pass through throttle // enable motors and pass through throttle
init_rc_out(); init_rc_out();
enable_motor_output(); enable_motor_output();
@ -135,6 +137,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
// main run while there is no user input and the compass is healthy // main run while there is no user input and the compass is healthy
while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) { while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
hal.scheduler->expect_delay_ms(5000);
// 50hz loop // 50hz loop
if (millis() - last_run_time < 20) { if (millis() - last_run_time < 20) {
// grab some compass values // grab some compass values
@ -228,6 +232,8 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
} }
} }
hal.scheduler->expect_delay_ms(0);
// stop motors // stop motors
motors->output_min(); motors->output_min();
motors->armed(false); motors->armed(false);