diff options
Diffstat (limited to 'apps/drivers/px4io')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index e48c84774..f948fec2c 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -308,6 +308,12 @@ PX4IO::init() if (ret != OK) return ret; + /* + * Enable a couple of retries for operations to IO. + * + * Register read/write operations are intentionally idempotent + * so this is safe as designed. + */ _retries = 2; /* get some parameters */ @@ -326,6 +332,12 @@ PX4IO::init() if (_max_rc_input > RC_INPUT_MAX_CHANNELS) _max_rc_input = RC_INPUT_MAX_CHANNELS; + /* dis-arm IO before touching anything */ + io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, + PX4IO_P_SETUP_ARMING_ARM_OK | + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE | + PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); + /* publish RC config to IO */ ret = io_set_rc_config(); if (ret != OK) { |