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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 13:39:40 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-30 13:39:40 +0200 |
| commit | 8b7c57a0d050d51f45f8c66536e5450e7a494d73 (patch) | |
| tree | 3d8ebf5bf44793a5d786942864cf0f8e9b5c1528 /src/drivers/px4io/px4io.cpp | |
| parent | d4c0dc2ba0271f4d9c8044fd2a3a178cbb9987e3 (diff) | |
| download | px4-firmware-8b7c57a0d050d51f45f8c66536e5450e7a494d73.tar.gz px4-firmware-8b7c57a0d050d51f45f8c66536e5450e7a494d73.tar.bz2 px4-firmware-8b7c57a0d050d51f45f8c66536e5450e7a494d73.zip | |
px4io driver: update cb only when changed
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 6f8d6f5f6..fbb5d4f2e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -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; |