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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-15 14:35:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-08-15 14:35:45 +0200 |
| commit | 8dbe6a6dc0d753a0f092fc2d4be508e48429c008 (patch) | |
| tree | 53fcb27e6bbb21d6796b89fa87645e84cac82c79 /src/drivers/px4io | |
| parent | 331de9b6ad2205d80fd036f81f3769ea5e9a500a (diff) | |
| download | px4-firmware-8dbe6a6dc0d753a0f092fc2d4be508e48429c008.tar.gz px4-firmware-8dbe6a6dc0d753a0f092fc2d4be508e48429c008.tar.bz2 px4-firmware-8dbe6a6dc0d753a0f092fc2d4be508e48429c008.zip | |
px4io driver: use flighttermination circuit breaker
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 32069cf09..afb03789f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1169,7 +1169,8 @@ PX4IO::io_set_arming_state() clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN; } - if (armed.force_failsafe) { + /* Do not set failsafe if circuit breaker is enabled */ + if (armed.force_failsafe && !circuit_breaker_enabled("CBRK_FLIGHTTERMINATION", CBRK_FLIGHTTERMINATION_KEY)) { set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } else { clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; |