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AP_Periph: add AP_PERIPH_SAFTEY_SWITCH_ENABLED

This commit is contained in:
Tom Pittenger 2023-09-13 12:27:37 -07:00 committed by Andrew Tridgell
parent 1d4a77d33a
commit ea207c4b4a
3 changed files with 9 additions and 1 deletions
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4
Tools/AP_Periph/AP_Periph.h
View File

@ -68,6 +68,10 @@
#endif
#endif
#ifndef AP_PERIPH_SAFETY_SWITCH_ENABLED
#define AP_PERIPH_SAFETY_SWITCH_ENABLED defined(HAL_PERIPH_ENABLE_RC_OUT)
#endif
#include "Parameters.h"
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL

2
Tools/AP_Periph/can.cpp
View File

@ -509,7 +509,7 @@ void AP_Periph_FW::handle_safety_state(CanardInstance* canard_instance, CanardRx
return;
}
safety_state = req.status;
#ifdef HAL_PERIPH_ENABLE_RC_OUT
#if AP_PERIPH_SAFETY_SWITCH_ENABLED
rcout_handle_safety_state(safety_state);
#endif
}

4
Tools/AP_Periph/rc_out.cpp
View File

@ -28,8 +28,12 @@ extern const AP_HAL::HAL &hal;
void AP_Periph_FW::rcout_init()
{
#if AP_PERIPH_SAFETY_SWITCH_ENABLED
// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
hal.rcout->force_safety_on();
#else
hal.rcout->force_safety_off();
#endif
#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
if (g.esc_telem_port >= 0) {