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).

1 files changed, 30 insertions, 1 deletions

diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index 483b9bcc8..8a6cb48a9 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -69,8 +69,14 @@
 struct sys_state_s 
 {
 
+<<<<<<< Updated upstream
 	bool		armed;		/* IO armed */
 	bool		arm_ok;		/* FMU says OK to arm */
+=======
+	bool		armed;			/* IO armed */
+	bool		arm_ok;			/* FMU says OK to arm */
+	uint16_t	servo_rate;		/* output rate of servos in Hz */
+>>>>>>> Stashed changes
 
 	bool		ppm_input_ok;	/* valid PPM input data */
 	bool		dsm_input_ok;	/* valid Spektrum DSM data */
@@ -96,7 +102,7 @@ struct sys_state_s
 	/*
 	 * If true, we are using the FMU controls.
 	 */
-	bool		mixer_use_fmu;
+	bool		mixer_manual_override;
 
 	/*
 	 * If true, state that should be reported to FMU has been updated.
@@ -113,6 +119,29 @@ struct sys_state_s
 	 * in the config packet.
 	 */
 	uint8_t		serial_rx_mode;
+<<<<<<< Updated upstream
+=======
+
+	/**
+	 * If true, the RC signal has been lost for more than a timeout interval
+	 */
+	bool		rc_lost;
+
+	/**
+	 * If true, the connection to FMU has been lost for more than a timeout interval
+	 */
+	bool		fmu_lost;
+
+	/**
+	 * If true, FMU is ready for autonomous position control. Only used for LED indication
+	 */
+	bool vector_flight_mode_ok;
+
+	/**
+	 * If true, IO performs an on-board manual override with the RC channel values
+	 */
+	bool manual_override_ok;
+>>>>>>> Stashed changes
 };
 
 extern struct sys_state_s system_state;