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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 17:48:27 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-28 17:48:27 +0200 |
| commit | 2c37ec16dc4a8ba47d985dc489b5b322758457c2 (patch) | |
| tree | 883f3ac1bb34845159c8dfc76b900b11fd270436 /src/drivers | |
| parent | df8fb7d2dc645070ebb5fae3324ac6533f4ab7a3 (diff) | |
| parent | e134537ae8f892ba3ae4a2f9c771bcfa62f905c8 (diff) | |
| download | px4-firmware-2c37ec16dc4a8ba47d985dc489b5b322758457c2.tar.gz px4-firmware-2c37ec16dc4a8ba47d985dc489b5b322758457c2.tar.bz2 px4-firmware-2c37ec16dc4a8ba47d985dc489b5b322758457c2.zip | |
Merge branch 'autodeclination' into ekf_params
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | src/drivers/drv_tone_alarm.h | 1 | ||||
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 1 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 4 | ||||
| -rw-r--r-- | src/drivers/stm32/tone_alarm/tone_alarm.cpp | 2 |
5 files changed, 11 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 7a93e513e..972573f9f 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -199,6 +199,9 @@ ORB_DECLARE(output_pwm); /** get the lockdown override flag to enable outputs in HIL */ #define PWM_SERVO_GET_DISABLE_LOCKDOWN _IOC(_PWM_SERVO_BASE, 22) +/** force safety switch off (to disable use of safety switch) */ +#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) + /* * * diff --git a/src/drivers/drv_tone_alarm.h b/src/drivers/drv_tone_alarm.h index 147d7123a..b7981e9c4 100644 --- a/src/drivers/drv_tone_alarm.h +++ b/src/drivers/drv_tone_alarm.h @@ -148,6 +148,7 @@ enum { TONE_BATTERY_WARNING_FAST_TUNE, TONE_GPS_WARNING_TUNE, TONE_ARMING_FAILURE_TUNE, + TONE_PARACHUTE_RELEASE_TUNE, TONE_NUMBER_OF_TUNES }; diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index a70ff6c5c..7258d5f9e 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -736,6 +736,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) case PWM_SERVO_SET_ARM_OK: case PWM_SERVO_CLEAR_ARM_OK: + case PWM_SERVO_SET_FORCE_SAFETY_OFF: // these are no-ops, as no safety switch break; 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: diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp index 8ed0de58c..810f4aacc 100644 --- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp +++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp @@ -335,6 +335,7 @@ ToneAlarm::ToneAlarm() : _default_tunes[TONE_BATTERY_WARNING_FAST_TUNE] = "MBNT255a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8a8"; //battery warning fast _default_tunes[TONE_GPS_WARNING_TUNE] = "MFT255L4AAAL1F#"; //gps warning slow _default_tunes[TONE_ARMING_FAILURE_TUNE] = "MFT255L4<<<BAP"; + _default_tunes[TONE_PARACHUTE_RELEASE_TUNE] = "MFT255L16agagagag"; // parachute release _tune_names[TONE_STARTUP_TUNE] = "startup"; // startup tune _tune_names[TONE_ERROR_TUNE] = "error"; // ERROR tone @@ -346,6 +347,7 @@ ToneAlarm::ToneAlarm() : _tune_names[TONE_BATTERY_WARNING_FAST_TUNE] = "fast_bat"; // battery warning fast _tune_names[TONE_GPS_WARNING_TUNE] = "gps_warning"; // gps warning _tune_names[TONE_ARMING_FAILURE_TUNE] = "arming_failure"; //fail to arm + _tune_names[TONE_PARACHUTE_RELEASE_TUNE] = "parachute_release"; // parachute release } ToneAlarm::~ToneAlarm() |