diff options
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 16 |
1 files changed, 12 insertions, 4 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index cb3ad6f2e..90236b40c 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -54,9 +54,12 @@ struct px4io_command { uint16_t f2i_magic; #define F2I_MAGIC 0x636d - uint16_t output_control[PX4IO_CONTROL_CHANNELS]; - bool relay_state[PX4IO_RELAY_CHANNELS]; - bool arm_ok; + 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 */ }; /** @@ -82,7 +85,12 @@ struct px4io_config { uint16_t f2i_config_magic; #define F2I_CONFIG_MAGIC 0x6366 - /* XXX currently nothing here */ + 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 */ }; /** |