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AP_HAL_PX4: disarm motors on reboot so ensure they are off during bootloader upload

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This commit is contained in:
Tom Pittenger 2016-06-04 00:40:46 -07:00
parent b9cee76bbe
commit a512e807dc
1 changed files with 7 additions and 0 deletions
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7
libraries/AP_HAL_PX4/Scheduler.cpp
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@ -222,6 +222,13 @@ void PX4Scheduler::resume_timer_procs()
void PX4Scheduler::reboot(bool hold_in_bootloader) void PX4Scheduler::reboot(bool hold_in_bootloader)
{ {
// disarm motors to ensure they are off during a bootloader upload
hal.rcout->force_safety_on();
hal.rcout->force_safety_no_wait();
// delay to ensure the async force_saftey operation completes
delay(500);
px4_systemreset(hold_in_bootloader); px4_systemreset(hold_in_bootloader);
} }