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AP_BoardConfig: auto-restore safety state on watchdog reset

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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
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2
libraries/AP_BoardConfig/AP_BoardConfig.h
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@ -161,7 +161,7 @@ public:
// return true if watchdog enabled // return true if watchdog enabled
static bool watchdog_enabled(void) { static bool watchdog_enabled(void) {
return _singleton?(_singleton->_options & BOARD_OPTION_WATCHDOG)!=0:false; return instance?(instance->_options & BOARD_OPTION_WATCHDOG)!=0:false;
} }
private: private:

8
libraries/AP_BoardConfig/board_drivers.cpp
View File

@ -18,6 +18,7 @@
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include "AP_BoardConfig.h" #include "AP_BoardConfig.h"
#include <GCS_MAVLink/GCS.h>
#include <stdio.h> #include <stdio.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -28,7 +29,12 @@ extern const AP_HAL::HAL& hal;
*/ */
void AP_BoardConfig::board_init_safety() 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_off();
hal.rcout->force_safety_no_wait(); hal.rcout->force_safety_no_wait();
// wait until safety has been turned off // wait until safety has been turned off