diff options
Diffstat (limited to 'apps/px4io/protocol.h')
| -rw-r--r-- | apps/px4io/protocol.h | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/apps/px4io/protocol.h b/apps/px4io/protocol.h index c704b1201..0bf6d4997 100644 --- a/apps/px4io/protocol.h +++ b/apps/px4io/protocol.h @@ -52,9 +52,12 @@ struct px4io_command { uint16_t f2i_magic; #define F2I_MAGIC 0x636d - uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; - bool relay_state[PX4IO_RELAY_CHANNELS]; - bool arm_ok; + uint16_t servo_command[PX4IO_OUTPUT_CHANNELS]; /**< servo output channels */ + uint16_t servo_rate; /**< 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 */ }; /* config message from FMU to IO */ |