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px4io: replace safety_off state with safety button event (#19558)

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internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
This commit is contained in:
Igor Misic
2022-05-23 06:54:37 +02:00
committed by Beat Küng
parent 08dcc72e1f
commit 12a81979a8
26 changed files with 69 additions and 190 deletions
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src/modules/commander/commander_params.c
+1 -1
View File
@@ -927,7 +927,7 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
/**
* Enable force safety
*
* Force safety when the vehicle disarms. Not supported when safety button used over PX4IO board.
* Force safety when the vehicle disarms
*
* @boolean
* @group Commander
src/modules/commander/esc_calibration.cpp
-10
View File
@@ -187,13 +187,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
goto Out;
}
/* tell IO to switch off safety without using the safety switch */
if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
return_code = PX4_ERROR;
goto Out;
}
calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");
timeout_start = hrt_absolute_time();
@@ -233,9 +226,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
Out:
if (fd != -1) {
if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still off");
}
if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");