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| author | Andrew Tridgell <tridge@samba.org> | 2014-10-09 15:35:18 +1100 |
|---|---|---|
| committer | Andrew Tridgell <tridge@samba.org> | 2014-10-30 08:44:00 +1100 |
| commit | dd23d0acbcce9f4c79e120ec782a522164a25d83 (patch) | |
| tree | ea8c19c5e8698f1b56a52d0f7cfae4ccca675012 /src/drivers/px4io | |
| parent | 2e33683630002aef5881734c96383685b7e8443f (diff) | |
| download | px4-firmware-dd23d0acbcce9f4c79e120ec782a522164a25d83.tar.gz px4-firmware-dd23d0acbcce9f4c79e120ec782a522164a25d83.tar.bz2 px4-firmware-dd23d0acbcce9f4c79e120ec782a522164a25d83.zip | |
drivers: allow forcing the safety switch on
This allows forcing the safety switch to the on position from software
which stops the pwm outputs
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 3871b4a2c..fd9eb4170 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_SAFETY_ON: + /* force safety switch on */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC); + break; + case PWM_SERVO_SET_FORCE_FAILSAFE: /* force failsafe mode instantly */ if (arg == 0) { |