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AP_AdvancedFailsafe: use heartbeat method 

this block is identical to the heartbeat method, with the exception of the enabled check (which is made earlier in the function this code is being removed from)
This commit is contained in:
Peter Barker 2022-10-21 13:16:13 +11:00 committed by Andrew Tridgell
parent 4249fc04b7
commit a269acf76f
1 changed files with 1 additions and 5 deletions
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6
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
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@ -306,11 +306,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
// if we are not terminating or if there is a separate terminate
// pin configured then toggle the heartbeat pin at 10Hz
if (_heartbeat_pin != -1 && (_terminate_pin != -1 || !_terminate)) {
_heartbeat_pin_value = !_heartbeat_pin_value;
hal.gpio->pinMode(_heartbeat_pin, HAL_GPIO_OUTPUT);
hal.gpio->write(_heartbeat_pin, _heartbeat_pin_value);
}
heartbeat();
// set the terminate pin
if (_terminate_pin != -1) {