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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-12 12:30:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-12 12:30:42 +0200 |
| commit | eb76d116cc67c6354c29fa41e49b4cf9df1a472d (patch) | |
| tree | cac2f06b21498be1f292772daf906ef1526719b6 /src/modules/px4iofirmware/protocol.h | |
| parent | 1028bd932cfd08366dd0dcb8c189ebcf88cce53a (diff) | |
| download | px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.tar.gz px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.tar.bz2 px4-firmware-eb76d116cc67c6354c29fa41e49b4cf9df1a472d.zip | |
Minor state machine improvements and fixes for IO safety / in-air restart handling
Diffstat (limited to 'src/modules/px4iofirmware/protocol.h')
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 674f9dddd..497e6af8e 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -77,7 +77,7 @@ /* static configuration page */ #define PX4IO_PAGE_CONFIG 0 -#define PX4IO_P_CONFIG_PROTOCOL_VERSION 0 /* magic numbers TBD */ +#define PX4IO_P_CONFIG_PROTOCOL_VERSION 2 /* magic numbers TBD */ #define PX4IO_P_CONFIG_SOFTWARE_VERSION 1 /* magic numbers TBD */ #define PX4IO_P_CONFIG_BOOTLOADER_VERSION 2 /* get this how? */ #define PX4IO_P_CONFIG_MAX_TRANSFER 3 /* maximum I2C transfer size */ @@ -93,7 +93,7 @@ #define PX4IO_P_STATUS_CPULOAD 1 #define PX4IO_P_STATUS_FLAGS 2 /* monitoring flags */ -#define PX4IO_P_STATUS_FLAGS_ARMED (1 << 0) /* arm-ok and locally armed */ +#define PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED (1 << 0) /* arm-ok and locally armed */ #define PX4IO_P_STATUS_FLAGS_OVERRIDE (1 << 1) /* in manual override */ #define PX4IO_P_STATUS_FLAGS_RC_OK (1 << 2) /* RC input is valid */ #define PX4IO_P_STATUS_FLAGS_RC_PPM (1 << 3) /* PPM input is valid */ @@ -105,6 +105,7 @@ #define PX4IO_P_STATUS_FLAGS_ARM_SYNC (1 << 9) /* the arming state between IO and FMU is in sync */ #define PX4IO_P_STATUS_FLAGS_INIT_OK (1 << 10) /* initialisation of the IO completed without error */ #define PX4IO_P_STATUS_FLAGS_FAILSAFE (1 << 11) /* failsafe is active */ +#define PX4IO_P_STATUS_FLAGS_SAFETY_OFF (1 << 12) /* safety is off */ #define PX4IO_P_STATUS_ALARMS 3 /* alarm flags - alarms latch, write 1 to a bit to clear it */ #define PX4IO_P_STATUS_ALARMS_VBATT_LOW (1 << 0) /* VBatt is very close to regulator dropout */ |