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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:19:05 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-18 11:19:05 +0200 |
| commit | 903b482378516f26ef0faa4d658597e0af2fb35d (patch) | |
| tree | 85c1b0eae57a22b97380ebd45468ae061db9bc0d /src | |
| parent | 9a53fd96482bd31da98af97de5cde88127d6c7f9 (diff) | |
| download | px4-firmware-903b482378516f26ef0faa4d658597e0af2fb35d.tar.gz px4-firmware-903b482378516f26ef0faa4d658597e0af2fb35d.tar.bz2 px4-firmware-903b482378516f26ef0faa4d658597e0af2fb35d.zip | |
PX4IO driver: Add support to set force failsafe
Diffstat (limited to 'src')
| -rw-r--r-- | src/drivers/drv_pwm_output.h | 3 | ||||
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 11 |
2 files changed, 14 insertions, 0 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 972573f9f..84815fdfb 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -202,6 +202,9 @@ ORB_DECLARE(output_pwm); /** force safety switch off (to disable use of safety switch) */ #define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) +/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */ +#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) + /* * * diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 711674886..f5ff6e55e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2222,6 +2222,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_FAILSAFE: + /* force failsafe mode instantly */ + if (arg == 0) { + /* clear force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0); + } else { + /* set force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ |