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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 16:30:21 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 16:30:21 +0100 |
commit | 126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec (patch) | |
tree | 277f05a93bea57ada888302829f716dc46dd92ef /apps/px4io/px4io.h | |
parent | 2bfb6727912e804325e5a512c9c09d36e8fe06d3 (diff) | |
download | px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.tar.gz px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.tar.bz2 px4-firmware-126e6ac2073ffb96c3867e7cbdd4e51e8408d0ec.zip |
Enabled manual override switch, work in progress. Added initial demix testing code to support delta mixing on the remote for convenient manual override
Diffstat (limited to 'apps/px4io/px4io.h')
-rw-r--r-- | apps/px4io/px4io.h | 31 |
1 files changed, 23 insertions, 8 deletions
diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h index 483b9bcc8..9bfe3b1e4 100644 --- a/apps/px4io/px4io.h +++ b/apps/px4io/px4io.h @@ -76,43 +76,58 @@ struct sys_state_s bool dsm_input_ok; /* valid Spektrum DSM data */ bool sbus_input_ok; /* valid Futaba S.Bus data */ - /* + /** * Data from the remote control input(s) */ int rc_channels; uint16_t rc_channel_data[PX4IO_INPUT_CHANNELS]; uint64_t rc_channels_timestamp; - /* + /** * Control signals from FMU. */ uint16_t fmu_channel_data[PX4IO_OUTPUT_CHANNELS]; - /* + /** * Relay controls */ bool relays[PX4IO_RELAY_CHANNELS]; - /* - * If true, we are using the FMU controls. + /** + * If true, we are using the FMU controls, else RC input if available. */ bool mixer_use_fmu; - /* + /** + * If true, FMU input is available. + */ + bool mixer_fmu_available; + + /** * If true, state that should be reported to FMU has been updated. */ bool fmu_report_due; - /* + /** * If true, new control data from the FMU has been received. */ bool fmu_data_received; - /* + /** * Current serial interface mode, per the serial_rx_mode parameter * in the config packet. */ uint8_t serial_rx_mode; + + /** + * 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; }; extern struct sys_state_s system_state; |