fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 16:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4io driver: update cb only when changed

Browse Source
This commit is contained in:
Thomas Gubler
2014-09-30 13:39:40 +02:00
parent d4c0dc2ba0
commit 8b7c57a0d0
1 changed files with 7 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+7 -2
View File
@@ -295,6 +295,7 @@ private:
float _battery_amp_bias; ///< current sensor bias
float _battery_mamphour_total;///< amp hours consumed so far
uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
@@ -515,7 +516,8 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0)
_battery_last_timestamp(0),
_cb_flighttermination(true)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
@@ -1051,6 +1053,9 @@ PX4IO::task_main()
}
}
/* Update Circuit breakers */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
}
}
@@ -1170,7 +1175,7 @@ PX4IO::io_set_arming_state()
}
/* Do not set failsafe if circuit breaker is enabled */
if (armed.force_failsafe && !circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY)) {
if (armed.force_failsafe && !_cb_flighttermination) {
set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;
} else {
clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE;