brianhansonxyz/clearpilot
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2024-05-20 22:40:46 -05:00
parent 64578562fc
commit 2f2205ebe7
1 changed files with 10 additions and 3 deletions
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13
panda/board/main.c
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@@ -238,8 +238,13 @@ void tick_handler(void) {
// clear heartbeat engaged state // clear heartbeat engaged state
heartbeat_engaged = false; heartbeat_engaged = false;
if (current_safety_mode != SAFETY_SILENT) { // if (current_safety_mode != SAFETY_SILENT) {
set_safety_mode(SAFETY_SILENT, 0U); // set_safety_mode(SAFETY_SILENT, 0U);
// }
// clearpilot
if (current_safety_mode != SAFETY_ALLOUTPUT) {
set_safety_mode(SAFETY_ALLOUTPUT, 0U);
} }
if (power_save_status != POWER_SAVE_STATUS_ENABLED) { if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
@@ -335,7 +340,9 @@ int main(void) {
microsecond_timer_init(); microsecond_timer_init();
// init to SILENT and can silent // init to SILENT and can silent
set_safety_mode(SAFETY_SILENT, 0U); //clearpilot
// set_safety_mode(SAFETY_SILENT, 0U);
set_safety_mode(SAFETY_ALLOUTPUT, 0U);
// enable CAN TXs // enable CAN TXs
current_board->enable_can_transceivers(true); current_board->enable_can_transceivers(true);