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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 10:49:27 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-30 10:49:27 +0100 |
| commit | abe1b9759a7b4f3114a91aa63b1e8caf8d37d9aa (patch) | |
| tree | eb3efcfbcb9ce87dbf8708755bf5eef761a159bd /apps/px4io/protocol.h | |
| parent | 142556b442b1c88ed2ede2cb9904a6a324051e71 (diff) | |
| parent | f6ea42ab5e886b3475350c5dab95b5985bda26bc (diff) | |
| download | px4-firmware-abe1b9759a7b4f3114a91aa63b1e8caf8d37d9aa.tar.gz px4-firmware-abe1b9759a7b4f3114a91aa63b1e8caf8d37d9aa.tar.bz2 px4-firmware-abe1b9759a7b4f3114a91aa63b1e8caf8d37d9aa.zip | |
Merged IO mixing branch
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 5b485e2ff..c53b94eb0 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -41,7 +41,7 @@ #pragma once -#define PX4IO_OUTPUT_CHANNELS 8 +#define PX4IO_CONTROL_CHANNELS 8 #define PX4IO_INPUT_CHANNELS 12 #define PX4IO_RELAY_CHANNELS 4 @@ -55,7 +55,8 @@ struct px4io_command { #define F2I_MAGIC 0x636d uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; /**< servo output channels */ - uint16_t servo_rate; /**< PWM output rate in Hz */ + uint16_t servo_rate; + uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< 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 */ @@ -102,6 +103,6 @@ struct px4io_mixdata { }; /* maximum size is limited by the HX frame size */ -#define F2I_MIXER_MAX_TEXT (sizeof(struct px4io_mixdata) - HX_STREAM_MAX_FRAME) +#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata)) #pragma pack(pop)
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