@jinchengde wrote:
Version:AP 3.6
the Mission Planner shows "Bad AHRS" and "(Safe)", and there is no output in servo but we set BRD_SAFETYENABLE to 0.we find that maybe the weather is too hot cause baro temp is unnormal, if we make pixhawk board cool, there is no "(Safe)" in MP and the pwm output is in normal.
we check the code maybe Bad AHRS cause PWM_SERVO_SET_FORCE_SAFETY_ON because the MAVLINK message in MP is
// saftey switch
if (armed && sensors_enabled.motor_control == false && sensors_enabled.seen)
{
messageHigh = "(SAFE)";
messageHighTime = DateTime.Now;
}so it looks like that motor control is be set false.
Does anybody know how to modify the code to approval the pwm output even bad AHRS, we no clear what happened make motor control to fail.
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