Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_BoardConfig: auto-restore safety state on watchdog reset

Browse Source
This commit is contained in:
Andrew Tridgell 2019-04-20 14:00:52 +10:00
parent 0a263cf202
commit ff3527eef5
2 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_BoardConfig/AP_BoardConfig.h
View File

@ -161,7 +161,7 @@ public:
// return true if watchdog enabled
static bool watchdog_enabled(void) {
return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false;
return instance?(instance->_options & BOARD_OPTION_WATCHDOG)!=0:false;
}
private:

8
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -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 (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