diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 32 |
1 files changed, 29 insertions, 3 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 97919538f..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); + } } @@ -1169,12 +1174,21 @@ 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 && !_cb_flighttermination) { set |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } else { clear |= PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE; } + // XXX this is for future support in the commander + // but can be removed if unneeded + // if (armed.termination_failsafe) { + // set |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } else { + // clear |= PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE; + // } + if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; @@ -2038,7 +2052,8 @@ PX4IO::print_status(bool extended_status) ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE) ? " ALWAYS_PWM_ENABLE" : ""), ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN) ? " LOCKDOWN" : ""), - ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : "") + ((arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) ? " FORCE_FAILSAFE" : ""), + ((arming & PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE) ? " TERM_FAILSAFE" : "") ); #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1 printf("rates 0x%04x default %u alt %u relays 0x%04x\n", @@ -2262,6 +2277,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } break; + case PWM_SERVO_SET_TERMINATION_FAILSAFE: + /* if failsafe occurs, do not allow the system to recover */ + if (arg == 0) { + /* clear termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0); + } else { + /* set termination failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ |