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HAL_PX4: fixed a race condition in force_safety_on/off 

the status update from IO may not have come through if we force safety
on and then off in quick succession, such as for plane mixer load

this forces the ioctl to be sent at least once
This commit is contained in:
Andrew Tridgell 2016-08-11 14:09:33 +10:00
parent 76b6cbbda1
commit dddaded8d4
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_HAL_PX4/RCOutput.cpp
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@ -278,19 +278,20 @@ void PX4RCOutput::force_safety_off(void)
void PX4RCOutput::force_safety_pending_requests(void)
{
// check if there is a pending saftey_state change. If so (timer != 0) then set it.
uint32_t now = AP_HAL::millis();
if (_safety_state_request_last_ms != 0 &&
AP_HAL::millis() - _safety_state_request_last_ms >= 100) {
if (hal.util->safety_switch_state() == _safety_state_request) {
// current switch state matches request, stop attempting
now - _safety_state_request_last_ms >= 100) {
if (hal.util->safety_switch_state() == _safety_state_request &&
_safety_state_request_last_ms != 1) {
_safety_state_request_last_ms = 0;
} else if (_safety_state_request == AP_HAL::Util::SAFETY_DISARMED) {
// current != requested, set it
ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
_safety_state_request_last_ms = AP_HAL::millis();
_safety_state_request_last_ms = now;
} else if (_safety_state_request == AP_HAL::Util::SAFETY_ARMED) {
// current != requested, set it
ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
_safety_state_request_last_ms = AP_HAL::millis();
_safety_state_request_last_ms = now;
}
}
}