diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 10:03:05 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 10:03:05 +0100 |
| commit | 142556b442b1c88ed2ede2cb9904a6a324051e71 (patch) | |
| tree | 0ad4357be8b5ef9ccab6ea6c5fa125a19e8a29d9 /apps/px4io/protocol.h | |
| parent | b8250de1e67f63f9ca3b990e016744584a328922 (diff) | |
| parent | 62a95bf8e6592b31ae7e84e53b654bc5e6b71cd1 (diff) | |
| download | px4-firmware-142556b442b1c88ed2ede2cb9904a6a324051e71.tar.gz px4-firmware-142556b442b1c88ed2ede2cb9904a6a324051e71.tar.bz2 px4-firmware-142556b442b1c88ed2ede2cb9904a6a324051e71.zip | |
merged
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 979f2f8cb..5b485e2ff 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -54,9 +54,12 @@ struct px4io_command { uint16_t f2i_magic; #define F2I_MAGIC 0x636d - uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; - bool relay_state[PX4IO_RELAY_CHANNELS]; - bool arm_ok; + uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; /**< servo output channels */ + uint16_t servo_rate; /**< PWM output rate in Hz */ + bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */ + bool arm_ok; /**< FMU allows full arming */ + bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ + bool manual_override_ok; /**< if true, IO performs a direct manual override */ }; /** |