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| author | Andrew Tridgell <tridge@samba.org> | 2014-03-25 11:54:37 +1100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 11:45:45 +0200 |
| commit | ab1939c6a30b6f4de06c83245c9f99ed350a4559 (patch) | |
| tree | c54c13936b466ac2930771933b1a526f7f52759a /src/drivers/px4io | |
| parent | ac5211108532c0e5a5c0252c41e0f01777906afa (diff) | |
| download | px4-firmware-ab1939c6a30b6f4de06c83245c9f99ed350a4559.tar.gz px4-firmware-ab1939c6a30b6f4de06c83245c9f99ed350a4559.tar.bz2 px4-firmware-ab1939c6a30b6f4de06c83245c9f99ed350a4559.zip | |
pwm: added PWM_SERVO_SET_FORCE_SAFETY_OFF ioctl
this allows the safety switch on px4io to be forced off
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index e318e206a..e5a39ffb0 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2129,6 +2129,10 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) case PWM_SERVO_GET_DISABLE_LOCKDOWN: *(unsigned *)arg = _lockdown_override; + + case PWM_SERVO_SET_FORCE_SAFETY_OFF: + /* force safety swith off */ + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; case DSM_BIND_START: |