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AP_BLHeli: unlock uart on InterfaceExit

This commit is contained in:
Andrew Tridgell 2018-04-02 16:20:53 +10:00
parent 6f704b3818
commit c17338473d
1 changed files with 15 additions and 8 deletions
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23
libraries/AP_BLHeli/AP_BLHeli.cpp
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@ -805,6 +805,15 @@ void AP_BLHeli::blheli_process_command(void)
blheli_send_reply(&b, 1); blheli_send_reply(&b, 1);
hal.rcout->serial_end(); hal.rcout->serial_end();
serial_start_ms = 0; serial_start_ms = 0;
if (motors_disabled) {
motors_disabled = false;
SRV_Channels::set_disabled_channel_mask(0);
}
if (uart_locked) {
uart->lock_port(0);
uart_locked = false;
debug("Unlocked UART");
}
break; break;
} }
case cmd_DeviceReset: { case cmd_DeviceReset: {
@ -1009,6 +1018,9 @@ bool AP_BLHeli::process_input(uint8_t b)
if (blheli.state == BLHELI_COMMAND_RECEIVED) { if (blheli.state == BLHELI_COMMAND_RECEIVED) {
valid_packet = true; valid_packet = true;
last_valid_ms = AP_HAL::millis(); last_valid_ms = AP_HAL::millis();
if (uart->lock_port(BLHELI_UART_LOCK_KEY)) {
uart_locked = true;
}
blheli_process_command(); blheli_process_command();
blheli.state = BLHELI_IDLE; blheli.state = BLHELI_IDLE;
msp.state = MSP_IDLE; msp.state = MSP_IDLE;
@ -1016,6 +1028,9 @@ bool AP_BLHeli::process_input(uint8_t b)
} else if (msp.state == MSP_COMMAND_RECEIVED) { } else if (msp.state == MSP_COMMAND_RECEIVED) {
if (msp.packetType == MSP_PACKET_COMMAND) { if (msp.packetType == MSP_PACKET_COMMAND) {
valid_packet = true; valid_packet = true;
if (uart->lock_port(BLHELI_UART_LOCK_KEY)) {
uart_locked = true;
}
last_valid_ms = AP_HAL::millis(); last_valid_ms = AP_HAL::millis();
msp_process_command(); msp_process_command();
} }
@ -1023,14 +1038,6 @@ bool AP_BLHeli::process_input(uint8_t b)
blheli.state = BLHELI_IDLE; blheli.state = BLHELI_IDLE;
} }
if (valid_packet) {
if (uart->lock_port(BLHELI_UART_LOCK_KEY)) {
uart_locked = true;
} else {
return false;
}
}
return valid_packet; return valid_packet;
} }