Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

HAL_ChibiOS: don't send dshot commands when safety is on #18102

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
+2 −2
Open

HAL_ChibiOS: don't send dshot commands when safety is on #18102

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
HAL_ChibiOS: don't send dshot commands when safety is on 
we shouldn't be sending anything till safety is off
  • Loading branch information
@tridge
tridge committed Jul 24, 2021
commit 77ae2aec03ad4177eda8451e16c3221890db279a
4 changes: 2 additions & 2 deletions libraries/AP_HAL_ChibiOS/RCOutput_serial.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -115,8 +115,8 @@ void RCOutput::set_reversible_mask(uint16_t chanmask) {
// Update the dshot outputs that should be reversible/3D at 1Hz
void RCOutput::update_channel_masks() {

// post arming dshot commands will not be accepted
if (hal.util->get_soft_armed()) {
// post arming or with safety on dshot commands will not be accepted
if (hal.util->get_soft_armed() || safety_state == AP_HAL::Util::SAFETY_DISARMED) {
return;
}

Expand Down