Plane: prevent motor startup on reboot in quadplanes

we need to prevent RC overrides within px4io from running

ArduPlane/GCS_Mavlink.cpp

@@ -1513,11 +1513,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
-            if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
-                // when packet.param1 == 3 we reboot to hold in bootloader
-                hal.scheduler->reboot(is_equal(packet.param1,3.0f));
-                result = MAV_RESULT_ACCEPTED;
-            }
+            result = handle_preflight_reboot(packet, plane.quadplane.enable != 0);
             break;
 
         case MAV_CMD_DO_LAND_START:

ArduPlane/px4_mixer.cpp

@@ -355,7 +355,12 @@ bool Plane::setup_failsafe_mixing(void)
     }
 
     for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
-        pwm_values.values[i] = 900;
+        if (RC_Channel_aux::channel_function(i) >= RC_Channel_aux::k_motor1 &&
+            RC_Channel_aux::channel_function(i) <= RC_Channel_aux::k_motor8) {
+            pwm_values.values[i] = quadplane.thr_min_pwm;
+        } else {
+            pwm_values.values[i] = 900;
+        }
     }
     if (ioctl(px4io_fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values) != 0) {
         hal.console->printf("SET_MIN_PWM failed\n");
@@ -363,7 +368,13 @@ bool Plane::setup_failsafe_mixing(void)
     }
 
     for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
-        pwm_values.values[i] = 2100;
+        if (RC_Channel_aux::channel_function(i) >= RC_Channel_aux::k_motor1 &&
+            RC_Channel_aux::channel_function(i) <= RC_Channel_aux::k_motor8) {
+            hal.rcout->write(i, quadplane.thr_min_pwm);
+            pwm_values.values[i] = quadplane.thr_min_pwm;
+        } else {
+            pwm_values.values[i] = 2100;
+        }
     }
     if (ioctl(px4io_fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values) != 0) {
         hal.console->printf("SET_MAX_PWM failed\n");
@@ -374,7 +385,6 @@ bool Plane::setup_failsafe_mixing(void)
         goto failed;
     }
 
-    // setup for immediate manual control if FMU dies
     if (ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 1) != 0) {
         hal.console->printf("SET_OVERRIDE_IMMEDIATE failed\n");
         goto failed;

ArduPlane/quadplane.h

@@ -35,6 +35,7 @@ class QuadPlane
 public:
     friend class Plane;
     friend class AP_Tuning_Plane;
+    friend class GCS_MAVLINK_Plane;
     
     QuadPlane(AP_AHRS_NavEKF &_ahrs);
 

ArduPlane/system.cpp

@@ -103,13 +103,16 @@ void Plane::init_ardupilot()
     init_rc_out_main();
     
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
-    // this must be before BoardConfig.init() so if
-    // BRD_SAFETYENABLE==0 then we don't have safety off yet
-    for (uint8_t tries=0; tries<10; tries++) {
-        if (setup_failsafe_mixing()) {
-            break;
+    if (!quadplane.enable) {
+        // this must be before BoardConfig.init() so if
+        // BRD_SAFETYENABLE==0 then we don't have safety off yet. For
+        // quadplanes we wait till AP_Motors is initialised
+        for (uint8_t tries=0; tries<10; tries++) {
+            if (setup_failsafe_mixing()) {
+                break;
+            }
+            hal.scheduler->delay(10);
         }
-        hal.scheduler->delay(10);
     }
 #endif