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px4io driver: use flighttermination circuit breaker

This commit is contained in:
Thomas Gubler 2014-08-15 14:35:45 +02:00
parent 331de9b6ad
commit 8dbe6a6dc0
1 changed files with 2 additions and 1 deletions
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3
src/drivers/px4io/px4io.cpp
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@ -1169,7 +1169,8 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
} }
if (armed.force_failsafe) { /* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !circuit_breaker_enabled("CBRK_FLIGHTTERMINATION", CBRK_FLIGHTTERMINATION_KEY)) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else { } else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;