diff options
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 64 |
1 files changed, 3 insertions, 61 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 4cb8a54ef..682348a60 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -139,6 +139,7 @@ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE (1 << 2) /* request switch to manual override */ +#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ @@ -165,65 +166,6 @@ #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ -/* - * Old serial PX4FMU <-> PX4IO messaging protocol. - * - * This initial version of the protocol is very simple; each side transmits a - * complete update with each frame. This avoids the sending of many small - * messages and the corresponding complexity involved. - */ - - -#define PX4IO_RELAY_CHANNELS 4 - -#pragma pack(push, 1) - -/** - * Periodic command from FMU to IO. - */ -struct px4io_command { - uint16_t f2i_magic; -#define F2I_MAGIC 0x636d - - uint16_t servo_rate; - uint16_t output_control[PX4IO_CONTROL_CHANNELS]; /**< PWM output rate in Hz */ - bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */ - bool arm_ok; /**< FMU allows full arming */ - bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */ - bool manual_override_ok; /**< if true, IO performs a direct manual override */ -}; - -/** - * Periodic report from IO to FMU - */ -struct px4io_report { - uint16_t i2f_magic; -#define I2F_MAGIC 0x7570 - - uint16_t rc_channel[PX4IO_INPUT_CHANNELS]; - bool armed; - uint8_t channel_count; - - uint16_t battery_mv; - uint16_t adc_in; - uint8_t overcurrent; -}; - -/** - * As-needed config message from FMU to IO - */ -struct px4io_config { - uint16_t f2i_config_magic; -#define F2I_CONFIG_MAGIC 0x6366 - - uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */ - uint16_t rc_min[4]; /**< min value for each channel */ - uint16_t rc_trim[4]; /**< trim value for each channel */ - uint16_t rc_max[4]; /**< max value for each channel */ - int8_t rc_rev[4]; /**< rev value for each channel */ - uint16_t rc_dz[4]; /**< dz value for each channel */ -}; - /** * As-needed mixer data upload. * @@ -241,7 +183,7 @@ struct px4io_mixdata { char text[0]; /* actual text size may vary */ }; -/* maximum size is limited by the HX frame size */ -#define F2I_MIXER_MAX_TEXT (HX_STREAM_MAX_FRAME - sizeof(struct px4io_mixdata)) +/* maximum size is limited by the link frame size XXX use config values to set this */ +#define F2I_MIXER_MAX_TEXT (64 - sizeof(struct px4io_mixdata)) #pragma pack(pop)
\ No newline at end of file |