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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:18:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:18:32 +0200 |
| commit | 9a53fd96482bd31da98af97de5cde88127d6c7f9 (patch) | |
| tree | b4a958f2358e60d813f9fb1232308fa4bb9050b7 /src/modules/px4iofirmware | |
| parent | 213fe0cc20ada8b8581a65f73c68b4efe6508405 (diff) | |
| download | px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.tar.gz px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.tar.bz2 px4-firmware-9a53fd96482bd31da98af97de5cde88127d6c7f9.zip | |
Add force failsafe flag
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 9 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 5 |
2 files changed, 13 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 2f721bf1e..606c639f9 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -111,7 +111,7 @@ mixer_tick(void) r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK; } - /* default to failsafe mixing */ + /* default to failsafe mixing - it will be forced below if flag is set */ source = MIX_FAILSAFE; /* @@ -155,6 +155,13 @@ mixer_tick(void) } /* + * Check if we should force failsafe - and do it if we have to + */ + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) { + source = MIX_FAILSAFE; + } + + /* * Set failsafe status flag depending on mixing source */ if (source == MIX_FAILSAFE) { diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index d5a6b1ec4..050783687 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -179,6 +179,7 @@ #define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */ #define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */ #define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */ +#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ #define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */ @@ -253,6 +254,10 @@ enum { /* DSM bind states */ /* PWM failsafe values - zero disables the output */ #define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */ +/* PWM failsafe values - zero disables the output */ +#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */ +#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */ + /* Debug and test page - not used in normal operation */ #define PX4IO_PAGE_TEST 127 #define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */ |