Merged master to gnss_rework

2 files changed, 15 insertions, 1 deletions

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 992ab9623..24da4c68b 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -1012,6 +1013,19 @@ PX4IO::task_main()
 					}
 				}
 
+				int32_t safety_param_val;
+				param_t safety_param = param_find("RC_FAILS_THR");
+
+				if (safety_param != PARAM_INVALID) {
+
+					param_get(safety_param, &safety_param_val);
+
+					if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+						/* disable IO safety if circuit breaker asked for it */
+						(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+					}
+				}
+
 			}
 
 		}
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 3b210ac59..c39494fb0 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -639,7 +639,7 @@ PX4IO_serial::_do_interrupt()
 		if (_rx_dma_status == _dma_status_waiting) {
 
 			/* verify that the received packet is complete */
-			int length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
+			size_t length = sizeof(_dma_buffer) - stm32_dmaresidual(_rx_dma);
 			if ((length < 1) || (length < PKT_SIZE(_dma_buffer))) {
 				perf_count(_pc_badidle);