aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

HAL_ChibiOS: don't start rout ticks till after full system init

Browse Source 
this prevents an occasional boot hang on systems with DShot
enabled. We shouldn't be starting DShot output till after setup() is
complete as the outputs are still being configured
This commit is contained in:
Andrew Tridgell 2021-02-04 09:04:15 +11:00
parent a09bdcdda1
commit b8e82a56f3
1 changed files with 3 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_HAL_ChibiOS/Scheduler.cpp
View File

@ -321,7 +321,9 @@ void Scheduler::_timer_thread(void *arg)
sched->_run_timers();
// process any pending RC output requests
hal.rcout->timer_tick();
if (sched->is_system_initialized()) {
hal.rcout->timer_tick();
}
if (sched->in_expected_delay()) {
sched->watchdog_pat();