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AP_BoardConfig: auto-restore safety state on watchdog reset

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This commit is contained in:
Andrew Tridgell 2019-04-20 10:29:04 +10:00
parent 1acb7e977f
commit a4ab44a7b3
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_BoardConfig/board_drivers.cpp
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@ -18,6 +18,7 @@
#include <AP_HAL/AP_HAL.h>
#include "AP_BoardConfig.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
extern const AP_HAL::HAL& hal;
@ -28,7 +29,12 @@ extern const AP_HAL::HAL& hal;
void AP_BoardConfig::board_init_safety()
{
#if HAL_HAVE_SAFETY_SWITCH
if (state.safety_enable.get() == 0) {
bool force_safety_off = (state.safety_enable.get() == 0);
if (!force_safety_off && hal.util->was_watchdog_safety_off()) {
gcs().send_text(MAV_SEVERITY_INFO, "Forcing safety off for watchdog\n");
force_safety_off = true;
}
if (force_safety_off) {
hal.rcout->force_safety_off();
hal.rcout->force_safety_no_wait();
// wait until safety has been turned off