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https://github.com/PX4/PX4-Autopilot.git
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d290487382
if the param get failed then an uninitialised stack variable was used for the safety disable on boot. In ArduPilot that value happened to equal the correct magic due to stack passing from caller. This forced safety off on boot
58 lines
2.3 KiB
C++
58 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file circuit_breaker.c
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*
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* Circuit breaker parameters.
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* Analog to real aviation circuit breakers these parameters
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* allow to disable subsystems. They are not supported as standard
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* operation procedure and are only provided for development purposes.
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* To ensure they are not activated accidentally, the associated
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* parameter needs to set to the key (magic).
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*/
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#include <stdint.h>
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#include <px4_defines.h>
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#include <systemlib/circuit_breaker.h>
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bool circuit_breaker_enabled(const char *breaker, int32_t magic)
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{
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int32_t val = -1;
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if (PX4_PARAM_GET_BYNAME(breaker, &val) == 0 && val == magic) {
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return true;
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}
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return false;
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}
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