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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-14 17:30:05 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-14 17:30:05 +0200 |
| commit | 9ee6ab366d2a7c6f24e2f08021da9cd861663bdc (patch) | |
| tree | bf6a5c46e634ff034a0085c4df2c82a0eb693a5a | |
| parent | 017f82e2b808eefedb45971e6c416b6864055769 (diff) | |
| download | px4-firmware-9ee6ab366d2a7c6f24e2f08021da9cd861663bdc.tar.gz px4-firmware-9ee6ab366d2a7c6f24e2f08021da9cd861663bdc.tar.bz2 px4-firmware-9ee6ab366d2a7c6f24e2f08021da9cd861663bdc.zip | |
add flighttermination circuit breaker
| -rw-r--r-- | src/modules/systemlib/circuit_breaker.c | 13 | ||||
| -rw-r--r-- | src/modules/systemlib/circuit_breaker.h | 1 |
2 files changed, 14 insertions, 0 deletions
diff --git a/src/modules/systemlib/circuit_breaker.c b/src/modules/systemlib/circuit_breaker.c index 64317a18a..8a0b51b71 100644 --- a/src/modules/systemlib/circuit_breaker.c +++ b/src/modules/systemlib/circuit_breaker.c @@ -95,6 +95,19 @@ PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 0); */ PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0); +/** + * Circuit breaker for flight termination + * + * Setting this parameter to 121212 will disable the flight termination action. + * --> The IO driver will not do flight termination if requested by the FMU + * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK + * + * @min 0 + * @max 121212 + * @group Circuit Breaker + */ +PARAM_DEFINE_INT32(CBRK_FLIGHTTERMINATION, 0); + bool circuit_breaker_enabled(const char* breaker, int32_t magic) { int32_t val; diff --git a/src/modules/systemlib/circuit_breaker.h b/src/modules/systemlib/circuit_breaker.h index b60584608..54c4fced6 100644 --- a/src/modules/systemlib/circuit_breaker.h +++ b/src/modules/systemlib/circuit_breaker.h @@ -53,6 +53,7 @@ #define CBRK_RATE_CTRL_KEY 140253 #define CBRK_IO_SAFETY_KEY 22027 #define CBRK_AIRSPD_CHK_KEY 162128 +#define CBRK_FLIGHTTERMINATION_KEY 121212 #include <stdbool.h> |