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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 10:23:02 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-13 10:23:02 +0100 |
| commit | 03076a72ca75917cf62d7889c6c6d0de36866b04 (patch) | |
| tree | cd47c9885bfe7e7c80bd616a612db2a5f8ae564c /apps/px4io/protocol.h | |
| parent | 154035279fbfbe14be208d5ec957089f11f6447d (diff) | |
| download | px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.tar.gz px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.tar.bz2 px4-firmware-03076a72ca75917cf62d7889c6c6d0de36866b04.zip | |
Added required additional fields: If system is ok to launch (required for LED indicator), if system is ok to override fully by RC (required for multirotors which should not support this), desired PWM output rate in Hz (again required for some multirotors).
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 c704b1201..0bf6d4997 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -52,9 +52,12 @@ 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 */ }; /* config message from FMU to IO */ |