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Merge pull request #3053 from PX4/usb_enforce

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Commander: prevent the user from arming the system with USB
This commit is contained in:
Roman Bapst
2015-10-30 17:51:41 +01:00
parent 3898bf6169 55cf08d383
commit 2cf9294c68
2 changed files with 20 additions and 1 deletions
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src/modules/commander/commander.cpp
+12
View File
@@ -1512,6 +1512,18 @@ int commander_thread_main(int argc, char *argv[])
/* copy avionics voltage */
status.avionics_power_rail_voltage = system_power.voltage5V_v;
if (status.usb_connected && !system_power.usb_connected) {
/*
* apparently the USB cable went away but we are still powered,
* so lets reset to a classic non-usb state.
*/
usleep(100000);
mavlink_log_critical(mavlink_fd, "USB disconnected, rebooting.")
usleep(400000);
px4_systemreset(false);
}
status.usb_connected = system_power.usb_connected;
}
}
src/modules/commander/state_machine_helper.cpp
+8 -1
View File
@@ -743,5 +743,12 @@ int prearm_check(const struct vehicle_status_s *status, const int mavlink_fd)
checkAirspeed = true;
}
return !Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
bool prearm_ok = Commander::preflightCheck(mavlink_fd, true, true, true, true, checkAirspeed, !(status->rc_input_mode == vehicle_status_s::RC_IN_MODE_OFF), !status->circuit_breaker_engaged_gpsfailure_check, true);
if (status->usb_connected) {
prearm_ok = false;
mavlink_log_critical(mavlink_fd, "NOT ARMING: Flying with USB connected prohibited");
}
return !prearm_ok;
}