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Copter: ensure esc calibration only occurs on next reboot 

It was possible for a board with no safety switch attached to get stuck waiting for the user to press the non-existance switch.  Rebooting now resolves the problem because the ESC_CAL parameter is reset to zero regardless of whether the calibration completes or not.
This commit is contained in:
Randy Mackay 2017-05-10 14:32:26 +09:00
parent 5915439c4e
commit b0311c4ef3
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/esc_calibration.cpp
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@ -125,6 +125,9 @@ void Copter::esc_calibration_auto()
#if FRAME_CONFIG != HELI_FRAME #if FRAME_CONFIG != HELI_FRAME
bool printed_msg = false; bool printed_msg = false;
// clear esc flag for next time
g.esc_calibrate.set_and_save(ESCCAL_NONE);
if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) { if (motors->get_pwm_type() >= AP_Motors::PWM_TYPE_ONESHOT) {
// run at full speed for oneshot ESCs (actually done on push) // run at full speed for oneshot ESCs (actually done on push)
motors->set_update_rate(g.rc_speed); motors->set_update_rate(g.rc_speed);
@ -169,9 +172,6 @@ void Copter::esc_calibration_auto()
// reduce throttle to minimum // reduce throttle to minimum
motors->set_throttle_passthrough_for_esc_calibration(0.0f); motors->set_throttle_passthrough_for_esc_calibration(0.0f);
// clear esc parameter
g.esc_calibrate.set_and_save(ESCCAL_NONE);
// block until we restart // block until we restart
while(1) { while(1) {
motors->set_throttle_passthrough_for_esc_calibration(0.0f); motors->set_throttle_passthrough_for_esc_calibration(0.0f);