diff options
Diffstat (limited to 'apps/px4io/protocol.h')
-rw-r--r-- | apps/px4io/protocol.h | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index 501691cd2..a2be4bfc4 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -100,6 +100,7 @@ #define PX4IO_P_STATUS_FLAGS_RC_DSM (1 << 4) /* DSM input is valid */ #define PX4IO_P_STATUS_FLAGS_RC_SBUS (1 << 5) /* SBUS input is valid */ #define PX4IO_P_STATUS_FLAGS_FMU_OK (1 << 6) /* controls from FMU are valid */ +#define PX4IO_P_STATUS_FLAGS_RAW_PPM (1 << 7) /* raw PPM from FMU is bypassing the mixer */ #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 */ @@ -149,7 +150,7 @@ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ /* autopilot control values, -10000..10000 */ -#define PX4IO_PAGE_CONTROLS 101 /* 0..STATUS_CONTROL_COUNT */ +#define PX4IO_PAGE_CONTROLS 101 /* 0..CONFIG_CONTROL_COUNT */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 102 @@ -166,6 +167,9 @@ #define PX4IO_P_RC_CONFIG_OPTIONS_REVERSE (1 << 1) #define PX4IO_P_RC_CONFIG_STRIDE 6 /* spacing between channel config data */ +/* PWM output - overrides mixer */ +#define PX4IO_PAGE_DIRECT_PWM 104 /* 0..CONFIG_ACTUATOR_COUNT-1 */ + /** * As-needed mixer data upload. * |