dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Disarm IO at driver startup time.

This commit is contained in:
px4dev 2013-01-26 19:43:23 -08:00
parent 981477c785
commit 6d0363faff
1 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
apps/drivers/px4io/px4io.cpp
View File

@ -308,6 +308,12 @@ PX4IO::init()
if (ret != OK)
return ret;
/*
* Enable a couple of retries for operations to IO.
*
* Register read/write operations are intentionally idempotent
* so this is safe as designed.
*/
_retries = 2;
/* get some parameters */
@ -326,6 +332,12 @@ PX4IO::init()
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
/* dis-arm IO before touching anything */
io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING,
PX4IO_P_SETUP_ARMING_ARM_OK |
PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE |
PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0);
/* publish RC config to IO */
ret = io_set_rc_config();
if (ret != OK) {