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AP_IOMCU: fixed a safety reset case for IOMCU reset #17522

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merged 1 commit into from May 25, 2021
Merged

AP_IOMCU: fixed a safety reset case for IOMCU reset #17522

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14 changes: 10 additions & 4 deletions libraries/AP_IOMCU/AP_IOMCU.cpp
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Expand Up @@ -1038,18 +1038,24 @@ void AP_IOMCU::check_iomcu_reset(void)

if (dt_ms < max_delay) {
// all OK
last_safety_off = reg_status.flag_safety_off;
return;
}
detected_io_reset = true;
INTERNAL_ERROR(AP_InternalError::error_t::iomcu_reset);
hal.console->printf("IOMCU reset t=%u %u %u dt=%u\n",
unsigned(AP_HAL::millis()), unsigned(ts1), unsigned(reg_status.timestamp_ms), unsigned(dt_ms));

if (safety_forced_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) {
// IOMCU has reset while armed with safety off - force it off
// again so we can keep flying
force_safety_off();
if (last_safety_off && !reg_status.flag_safety_off && hal.util->get_soft_armed()) {
AP_BoardConfig *boardconfig = AP_BoardConfig::get_singleton();
uint16_t options = boardconfig?boardconfig->get_safety_button_options():0;
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We really should be raising internal errors in a lot of these places that find boardconfig is nullptr.

Won't ever happen in here AFAICS based on the code sequencing in the various init_ardupilots - but if it did then we wouldn't retry this block and might not reset the safety switch appropriately.

if (safety_forced_off || (options & AP_BoardConfig::BOARD_SAFETY_OPTION_BUTTON_ACTIVE_ARMED) == 0) {
// IOMCU has reset while armed with safety off - force it off
// again so we can keep flying
force_safety_off();
}
}
last_safety_off = reg_status.flag_safety_off;

// we need to ensure the mixer data and the rates are sent over to
// the IOMCU
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3 changes: 3 additions & 0 deletions libraries/AP_IOMCU/AP_IOMCU.h
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Expand Up @@ -154,6 +154,9 @@ class AP_IOMCU {
// have we forced the safety off?
bool safety_forced_off;

// was safety off on last status?
bool last_safety_off;

void send_servo_out(void);
void read_rc_input(void);
void read_servo(void);
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