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author | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-02 21:21:51 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-02-02 21:21:51 +0100 |
commit | d441d38677eb78d1e599973dd1e993d3af1af218 (patch) | |
tree | ddee78e259d301c551a734a9f75c12107b53c227 /src/drivers/px4io | |
parent | 143508529feb10d5e767794b1fdd236d6915901b (diff) | |
parent | e6a7dc7a3ffd4eb988e9039171f1460f656b28c8 (diff) | |
download | px4-firmware-d441d38677eb78d1e599973dd1e993d3af1af218.tar.gz px4-firmware-d441d38677eb78d1e599973dd1e993d3af1af218.tar.bz2 px4-firmware-d441d38677eb78d1e599973dd1e993d3af1af218.zip |
Merged master into ros
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 18 |
1 files changed, 17 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ae7f85b87..3a9e8ef24 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -3271,7 +3271,23 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "safety_off")) { + int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0); + if (ret != OK) { + printf("failed to disable safety\n"); + exit(1); + } + exit(0); + } + if (!strcmp(argv[1], "safety_on")) { + int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0); + if (ret != OK) { + printf("failed to enable safety\n"); + exit(1); + } + exit(0); + } if (!strcmp(argv[1], "recovery")) { @@ -3400,6 +3416,6 @@ px4io_main(int argc, char *argv[]) out: errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n" - "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n" + "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n" "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'"); } |