From 8ea5fd20c1c268c6baf145606186592bf5bd3699 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 25 May 2014 20:36:05 +0200
Subject: [PATCH] px4io driver: Add support for circuit breakers

---
 src/drivers/px4io/px4io.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 972f451485..c6acfe6be8 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -72,6 +72,7 @@
 #include <systemlib/systemlib.h>
 #include <systemlib/scheduling_priorities.h>
 #include <systemlib/param/param.h>
+#include <systemlib/circuit_breaker.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
@@ -1010,6 +1011,19 @@ PX4IO::task_main()
 					}
 				}
 
+				int32_t safety_param_val;
+				param_t safety_param = param_find("RC_FAILS_THR");
+
+				if (safety_param != PARAM_INVALID) {
+
+					param_get(safety_param, &safety_param_val);
+
+					if (safety_param_val == PX4IO_FORCE_SAFETY_MAGIC) {
+						/* disable IO safety if circuit breaker asked for it */
+						(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, safety_param_val);
+					}
+				}
+
 			}
 
 		}