ArduPilot · tridge · Jan 12, 2021 · Jan 12, 2021 · Jan 12, 2021 · Jan 12, 2021
diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
@@ -323,8 +323,8 @@ bool AP_Arming_Copter::motor_checks(bool display_failure)
         // check we have an ESC present for every SERVOx_FUNCTION = motorx
         // find and report first missing ESC, extra ESCs are OK
         AP_ToshibaCAN *tcan = AP_ToshibaCAN::get_tcan(tcan_index);
-        const uint16_t motors_mask = copter.motors->get_motor_mask();
-        const uint16_t esc_mask = tcan->get_present_mask();
+        const uint32_t motors_mask = copter.motors->get_motor_mask();
+        const uint32_t esc_mask = tcan->get_present_mask();
         uint8_t escs_missing = 0;
         uint8_t first_missing = 0;
         for (uint8_t i = 0; i < 16; i++) {

diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
@@ -45,7 +45,7 @@ void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
 
 #if FRAME_CONFIG != HELI_FRAME
     // setup AP_Motors outputs for failsafe
-    uint16_t mask = copter.motors->get_motor_mask();
+    uint32_t mask = copter.motors->get_motor_mask();
     hal.rcout->set_failsafe_pwm(mask, copter.motors->get_pwm_output_min());
 #endif
 }

diff --git a/ArduPlane/afs_plane.cpp b/ArduPlane/afs_plane.cpp
@@ -84,7 +84,7 @@ void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
 #if HAL_QUADPLANE_ENABLED
     if (plane.quadplane.available()) {
         // setup AP_Motors outputs for failsafe
-        uint16_t mask = plane.quadplane.motors->get_motor_mask();
+        uint32_t mask = plane.quadplane.motors->get_motor_mask();
         hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
     }
 #endif

diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
@@ -597,6 +597,13 @@ class ModeQRTL : public Mode
 protected:
 
     bool _enter() override;
+
+private:
+
+    enum class SubMode {
+        climb,
+        RTL,
+    } submode;
 };
 
 class ModeQAcro : public Mode

diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
@@ -11,28 +11,52 @@ bool ModeQRTL::_enter()
        plane.set_mode(plane.mode_qland, ModeReason::QLAND_INSTEAD_OF_RTL);
        return true;
     }
+    submode = SubMode::RTL;
+    plane.prev_WP_loc = plane.current_loc;
+
+    // clear QPOS state
+    quadplane.poscontrol.set_state(QuadPlane::QPOS_NONE);
+
+    const int32_t RTL_alt_abs_cm = plane.home.alt + quadplane.qrtl_alt*100UL;
+    if (quadplane.motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED) {
+        // VTOL motors are active, either in VTOL flight or assisted flight
+        Location destination = plane.rally.calc_best_rally_or_home_location(plane.current_loc, RTL_alt_abs_cm);
+
+        const float dist = plane.current_loc.get_distance(destination);
+        const float radius = MAX(fabsf(plane.aparm.loiter_radius), fabsf(plane.g.rtl_radius));
+
+        const float dist_to_climb = quadplane.qrtl_alt - plane.relative_ground_altitude(plane.g.rangefinder_landing);
+        if (dist < 1.5*radius) {
+            // we're close to destination and already running VTOL motors, don't transition and don't climb
+            gcs().send_text(MAV_SEVERITY_INFO,"VTOL position1 d=%.1f r=%.1f", dist, radius);
+            poscontrol.set_state(QuadPlane::QPOS_POSITION1);
+
+        } else if (is_positive(dist_to_climb)) {
+            // climb before returning, only next waypoint altitude is used
+            submode = SubMode::climb;
+            plane.next_WP_loc = plane.current_loc;
+#if AP_TERRAIN_AVAILABLE
+            if (plane.terrain_enabled_in_mode(mode_number())) {
+                plane.next_WP_loc.set_alt_cm(quadplane.qrtl_alt * 100UL, Location::AltFrame::ABOVE_TERRAIN);
+                return true;
+            }
+#endif
+            plane.next_WP_loc.set_alt_cm(plane.current_loc.alt + dist_to_climb * 100UL, plane.current_loc.get_alt_frame());
+            return true;
+        }
+    }
 
     // use do_RTL() to setup next_WP_loc
-    plane.do_RTL(plane.home.alt + quadplane.qrtl_alt*100UL);
-    plane.prev_WP_loc = plane.current_loc;
-    pos_control->set_accel_desired_xy_cmss(Vector2f());
-    pos_control->init_xy_controller();
+    plane.do_RTL(RTL_alt_abs_cm);
     quadplane.poscontrol_init_approach();
-    float dist = plane.next_WP_loc.get_distance(plane.current_loc);
-    const float radius = MAX(fabsf(plane.aparm.loiter_radius), fabsf(plane.g.rtl_radius));
-    if (dist < 1.5*radius &&
-        quadplane.motors->get_desired_spool_state() == AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED) {
-        // we're close to destination and already running VTOL motors, don't transition
-        gcs().send_text(MAV_SEVERITY_INFO,"VTOL position1 d=%.1f r=%.1f", dist, radius);
-        poscontrol.set_state(QuadPlane::QPOS_POSITION1);
-    }
+
     int32_t from_alt;
     int32_t to_alt;
     if (plane.current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,from_alt) && plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,to_alt)) {
         poscontrol.slow_descent = from_alt > to_alt;
         return true;
     }
-    // defualt back to old method
+    // default back to old method
     poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
     return true;
 }
@@ -47,20 +71,63 @@ void ModeQRTL::update()
  */
 void ModeQRTL::run()
 {
-    quadplane.vtol_position_controller();
-    if (poscontrol.get_state() > QuadPlane::QPOS_POSITION2) {
-        // change target altitude to home alt
-        plane.next_WP_loc.alt = plane.home.alt;
-    }
-    if (poscontrol.get_state() >= QuadPlane::QPOS_POSITION2) {
-        // start landing logic
-        quadplane.verify_vtol_land();
-    }
+    switch (submode) {
+        case SubMode::climb: {
+            // request zero velocity
+            Vector2f vel, accel;
+            pos_control->input_vel_accel_xy(vel, accel);
+            quadplane.run_xy_controller();
+
+            // nav roll and pitch are controller by position controller
+            plane.nav_roll_cd = pos_control->get_roll_cd();
+            plane.nav_pitch_cd = pos_control->get_pitch_cd();
+            if (quadplane.transition->set_VTOL_roll_pitch_limit(plane.nav_roll_cd, plane.nav_pitch_cd)) {
+                pos_control->set_externally_limited_xy();
+            }
+            // weathervane with no pilot input
+            attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
+                                                                          plane.nav_pitch_cd,
+                                                                          quadplane.get_weathervane_yaw_rate_cds());
+
+            // climb at full WP nav speed
+            quadplane.set_climb_rate_cms(quadplane.wp_nav->get_default_speed_up(), false);
+            quadplane.run_z_controller();
+
+            ftype alt_diff;
+            if (!plane.current_loc.get_alt_distance(plane.next_WP_loc, alt_diff) || is_positive(alt_diff)) {
+                // climb finshed or cant get alt diff, head home
+                submode = SubMode::RTL;
+                plane.prev_WP_loc = plane.current_loc;
+                plane.do_RTL(plane.home.alt + quadplane.qrtl_alt*100UL);
+                quadplane.poscontrol_init_approach();
+                if (plane.current_loc.get_alt_distance(plane.next_WP_loc, alt_diff)) {
+                    poscontrol.slow_descent = is_positive(alt_diff);
+                } else {
+                    // default back to old method
+                    poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
+                }
+            }
+            break;
+        }
+
+        case SubMode::RTL: {
+            quadplane.vtol_position_controller();
+            if (poscontrol.get_state() > QuadPlane::QPOS_POSITION2) {
+                // change target altitude to home alt
+                plane.next_WP_loc.alt = plane.home.alt;
+            }
+            if (poscontrol.get_state() >= QuadPlane::QPOS_POSITION2) {
+                // start landing logic
+                quadplane.verify_vtol_land();
+            }
 
-    // when in approach allow stick mixing
-    if (quadplane.poscontrol.get_state() == QuadPlane::QPOS_AIRBRAKE ||
-        quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH) {
-        plane.stabilize_stick_mixing_fbw();
+            // when in approach allow stick mixing
+            if (quadplane.poscontrol.get_state() == QuadPlane::QPOS_AIRBRAKE ||
+                quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH) {
+                plane.stabilize_stick_mixing_fbw();
+            }
+            break;
+        }
     }
 }
 
@@ -72,7 +139,7 @@ bool ModeQRTL::update_target_altitude()
     /*
       update height target in approach
      */
-    if (plane.quadplane.poscontrol.get_state() != QuadPlane::QPOS_APPROACH) {
+    if ((submode != SubMode::RTL) || (plane.quadplane.poscontrol.get_state() != QuadPlane::QPOS_APPROACH)) {
         return false;
     }
 
@@ -99,7 +166,7 @@ bool ModeQRTL::update_target_altitude()
 // only nudge during approach
 bool ModeQRTL::allows_throttle_nudging() const
 {
-    return plane.quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH;
+    return (submode == SubMode::RTL) && (plane.quadplane.poscontrol.get_state() == QuadPlane::QPOS_APPROACH);
 }
 
 #endif
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
@@ -730,7 +730,7 @@ bool QuadPlane::setup(void)
 
     // setup the trim of any motors used by AP_Motors so I/O board
     // failsafe will disable motors
-    uint16_t mask = plane.quadplane.motors->get_motor_mask();
+    uint32_t mask = plane.quadplane.motors->get_motor_mask();
     hal.rcout->set_failsafe_pwm(mask, plane.quadplane.motors->get_pwm_output_min());
 
     // default QAssist state as set with Q_OPTIONS
@@ -2187,6 +2187,7 @@ void QuadPlane::poscontrol_init_approach(void)
     }
     poscontrol.pilot_correction_done = false;
     poscontrol.xy_correction.zero();
+    poscontrol.slow_descent = false;
 }
 
 /*
@@ -3524,13 +3525,13 @@ void QuadPlane::guided_start(void)
     setup_target_position();
     int32_t from_alt;
     int32_t to_alt;
+    poscontrol_init_approach();
     if (plane.current_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,from_alt) && plane.next_WP_loc.get_alt_cm(Location::AltFrame::ABSOLUTE,to_alt)) {
         poscontrol.slow_descent = from_alt > to_alt;
     } else {
         // default back to old method
         poscontrol.slow_descent = (plane.current_loc.alt > plane.next_WP_loc.alt);
     }
-    poscontrol_init_approach();
 }
 
 /*

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -984,7 +984,7 @@ void Plane::servos_output(void)
 
     // support MANUAL_RCMASK
     if (g2.manual_rc_mask.get() != 0 && control_mode == &mode_manual) {
-        SRV_Channels::copy_radio_in_out_mask(uint16_t(g2.manual_rc_mask.get()));
+        SRV_Channels::copy_radio_in_out_mask(uint32_t(g2.manual_rc_mask.get()));
     }
 
     SRV_Channels::calc_pwm();

diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp
@@ -21,7 +21,7 @@
 // Raw ESC command normalized into [-8192, 8191]
 #define UAVCAN_ESC_MAX_VALUE    8191
 
-#define SERVO_OUT_RCIN_MAX      16  // SRV_Channel::k_rcin1 ... SRV_Channel::k_rcin16
+#define SERVO_OUT_RCIN_MAX      32  // note that we allow for more than is in the enum
 #define SERVO_OUT_MOTOR_MAX     12  // SRV_Channel::k_motor1 ... SRV_Channel::k_motor8, SRV_Channel::k_motor9 ... SRV_Channel::k_motor12
 
 extern const AP_HAL::HAL &hal;
@@ -49,7 +49,7 @@ void AP_Periph_FW::rcout_init()
         SRV_Channels::set_angle(SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i), 1000);
     }
 
-    uint16_t esc_mask = 0;
+    uint32_t esc_mask = 0;
     for (uint8_t i=0; i<SERVO_OUT_MOTOR_MAX; i++) {
         SRV_Channels::set_range(SRV_Channels::get_motor_function(i), UAVCAN_ESC_MAX_VALUE);
         uint8_t chan;

diff --git a/libraries/AP_BLHeli/AP_BLHeli.cpp b/libraries/AP_BLHeli/AP_BLHeli.cpp
@@ -58,7 +58,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @Param: MASK
     // @DisplayName: BLHeli Channel Bitmask
     // @Description: Enable of BLHeli pass-thru servo protocol support to specific channels. This mask is in addition to motors enabled using SERVO_BLH_AUTO (if any)
-    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
+    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("MASK",  1, AP_BLHeli, channel_mask, 0),
@@ -129,7 +129,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @Param: 3DMASK
     // @DisplayName: BLHeli bitmask of 3D channels
     // @Description: Mask of channels which are dynamically reversible. This is used to configure ESCs in '3D' mode, allowing for the motor to spin in either direction
-    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
+    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("3DMASK",  10, AP_BLHeli, channel_reversible_mask, 0),
@@ -138,15 +138,15 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @Param: BDMASK
     // @DisplayName: BLHeli bitmask of bi-directional dshot channels
     // @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
-    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
+    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("BDMASK",  11, AP_BLHeli, channel_bidir_dshot_mask, 0),
 #endif
     // @Param: RVMASK
     // @DisplayName: BLHeli bitmask of reversed channels
     // @Description: Mask of channels which are reversed. This is used to configure ESCs in reversed mode
-    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16
+    // @Bitmask: 0:Channel1,1:Channel2,2:Channel3,3:Channel4,4:Channel5,5:Channel6,6:Channel7,7:Channel8,8:Channel9,9:Channel10,10:Channel11,11:Channel12,12:Channel13,13:Channel14,14:Channel15,15:Channel16, 16:Channel 17, 17: Channel 18, 18: Channel 19, 19: Channel 20, 20: Channel 21, 21: Channel 22, 22: Channel 23, 23: Channel 24, 24: Channel 25, 25: Channel 26, 26: Channel 27, 27: Channel 28, 28: Channel 29, 29: Channel 30, 30: Channel 31, 31: Channel 32
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("RVMASK",  12, AP_BLHeli, channel_reversed_mask, 0),
@@ -1333,7 +1333,7 @@ void AP_BLHeli::init(void)
     }
 #endif
 
-    uint16_t mask = uint16_t(channel_mask.get());
+    uint32_t mask = uint32_t(channel_mask.get());
 
     /*
       allow mode override - this makes it possible to use DShot for
@@ -1359,7 +1359,7 @@ void AP_BLHeli::init(void)
         break;
     }
 
-    uint16_t digital_mask = 0;
+    uint32_t digital_mask = 0;
     // setting the digital mask changes the min/max PWM values
     // it's important that this is NOT done for non-digital channels as otherwise
     // PWM min can result in motors turning. set for individual overrides first
@@ -1377,7 +1377,7 @@ void AP_BLHeli::init(void)
     AP_Motors *motors = AP::motors();
 #endif
     if (motors) {
-        uint16_t motormask = motors->get_motor_mask();
+        uint32_t motormask = motors->get_motor_mask();
         // set the rest of the digital channels
         if (motors->is_digital_pwm_type()) {
             digital_mask |= motormask;
@@ -1386,15 +1386,15 @@ void AP_BLHeli::init(void)
     }
 #endif
     // tell SRV_Channels about ESC capabilities
-    SRV_Channels::set_digital_outputs(digital_mask, uint16_t(channel_reversible_mask.get()) & digital_mask);
+    SRV_Channels::set_digital_outputs(digital_mask, uint32_t(channel_reversible_mask.get()) & digital_mask);
     // the dshot ESC type is required in order to send the reversed/reversible dshot command correctly
     hal.rcout->set_dshot_esc_type(SRV_Channels::get_dshot_esc_type());
-    hal.rcout->set_reversible_mask(uint16_t(channel_reversible_mask.get()) & digital_mask);
-    hal.rcout->set_reversed_mask(uint16_t(channel_reversed_mask.get()) & digital_mask);
+    hal.rcout->set_reversible_mask(uint32_t(channel_reversible_mask.get()) & digital_mask);
+    hal.rcout->set_reversed_mask(uint32_t(channel_reversed_mask.get()) & digital_mask);
 #ifdef HAL_WITH_BIDIR_DSHOT
     // possibly enable bi-directional dshot
     hal.rcout->set_motor_poles(motor_poles);
-    hal.rcout->set_bidir_dshot_mask(uint16_t(channel_bidir_dshot_mask.get()) & digital_mask);
+    hal.rcout->set_bidir_dshot_mask(uint32_t(channel_bidir_dshot_mask.get()) & digital_mask);
 #endif
     // add motors from channel mask
     for (uint8_t i=0; i<16 && num_motors < max_motors; i++) {
@@ -1404,7 +1404,7 @@ void AP_BLHeli::init(void)
         }
     }
     motor_mask = mask;
-    debug("ESC: %u motors mask=0x%04x", num_motors, mask);
+    debug("ESC: %u motors mask=0x%08lx", num_motors, mask);
 
     // check if we have a combination of reversable and normal
     mixed_type = (mask != (mask & channel_reversible_mask.get())) && (channel_reversible_mask.get() != 0);
@@ -1581,7 +1581,7 @@ void AP_BLHeli::update_telemetry(void)
                 break;
             }
         }
-        uint16_t mask = 1U << motor_map[idx];
+        uint32_t mask = 1U << motor_map[idx];
         if (SRV_Channels::have_digital_outputs(mask)) {
             hal.rcout->set_telem_request_mask(mask);
             last_telem_esc = idx;

diff --git a/libraries/AP_BLHeli/AP_BLHeli.h b/libraries/AP_BLHeli/AP_BLHeli.h
@@ -53,7 +53,7 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
         return channel_bidir_dshot_mask.get() & (1U << motor_map[esc_index]);
     }
 
-    uint16_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
+    uint32_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
 
     static AP_BLHeli *get_singleton(void) {
         return _singleton;
@@ -232,7 +232,7 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
     // have we disabled motor outputs?
     bool motors_disabled;
     // mask of channels that should normally be disabled
-    uint16_t motors_disabled_mask;
+    uint32_t motors_disabled_mask;
 
     // have we locked the UART?
     bool uart_locked;
@@ -242,7 +242,7 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
 
     // mapping from BLHeli motor numbers to RC output channels
     uint8_t motor_map[max_motors];
-    uint16_t motor_mask;
+    uint32_t motor_mask;
 
     // convert between servo number and FMU channel number for ESC telemetry
     uint8_t chan_offset;

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -375,7 +375,7 @@ void AP_BoardConfig::init()
 }
 
 // set default value for BRD_SAFETY_MASK
-void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
+void AP_BoardConfig::set_default_safety_ignore_mask(uint32_t mask)
 {
     state.ignore_safety_channels.set_default(mask);
 }