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| author | px4dev <px4@purgatory.org> | 2013-01-15 00:41:13 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-01-15 00:41:13 -0800 |
| commit | 112f5ea9697a2ada9e3852f9c2e7c10ab0e78a8a (patch) | |
| tree | b2b766fff575c9308c9cd37999f0d6ddb8e59fb0 /apps/px4io/protocol.h | |
| parent | f3a587dfced54bfdfe3471e6099c3ea16bc33a31 (diff) | |
| download | px4-firmware-112f5ea9697a2ada9e3852f9c2e7c10ab0e78a8a.tar.gz px4-firmware-112f5ea9697a2ada9e3852f9c2e7c10ab0e78a8a.tar.bz2 px4-firmware-112f5ea9697a2ada9e3852f9c2e7c10ab0e78a8a.zip | |
Add support for raw PWM passthrough from FMU via IO.
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 501691cd2..a2be4bfc4 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -100,6 +100,7 @@ #define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ #define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ #define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ +#define PX4IO_P_STATUS_FLAGS_RAW_PPM (1 << 7) /* raw PPM from FMU is bypassing the mixer */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ @@ -149,7 +150,7 @@ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..STATUS_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 102 @@ -166,6 +167,9 @@ #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ +/* PWM output - overrides mixer */ +#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + /** * As-needed mixer data upload. * |