1 files changed, 42 insertions, 15 deletions

diff --git a/apps/px4io/px4io.h b/apps/px4io/px4io.h
index ad10961b4..1c9d11e99 100644
--- a/apps/px4io/px4io.h
+++ b/apps/px4io/px4io.h
@@ -70,49 +70,75 @@ struct sys_state_s {
 
 	bool		armed;			/* IO armed */
 	bool		arm_ok;			/* FMU says OK to arm */
+	uint16_t	servo_rate;		/* output rate of servos in Hz */
 
-	/*
+	/**
 	 * Data from the remote control input(s)
 	 */
 	unsigned	rc_channels;
 	uint16_t	rc_channel_data[PX4IO_INPUT_CHANNELS];
 	uint64_t	rc_channels_timestamp;
 
-	/*
+	/**
 	 * Control signals from FMU.
 	 */
 	uint16_t	fmu_channel_data[PX4IO_OUTPUT_CHANNELS];
 
-	/*
+	/**
 	 * Mixed servo outputs
 	 */
 	uint16_t	servos[IO_SERVO_COUNT];
 
-	/*
+	/**
 	 * Relay controls
 	 */
 	bool		relays[PX4IO_RELAY_CHANNELS];
 
-	/*
-	 * If true, we are using the FMU controls.
+	/**
+	 * If true, we are using the FMU controls, else RC input if available.
 	 */
-	bool		mixer_use_fmu;
+	bool		mixer_manual_override;
 
-	/*
+	/**
+	 * If true, FMU input is available.
+	 */
+	bool		mixer_fmu_available;
+
+	/**
 	 * If true, state that should be reported to FMU has been updated.
 	 */
 	bool		fmu_report_due;
 
-	/*
-	 * If true, new control data from the FMU has been received.
+	/**
+	 * Last FMU receive time, in microseconds since system boot
 	 */
-	bool		fmu_data_received;
+	uint64_t	fmu_data_received_time;
 
-	/*
+	/**
 	 * Current serial interface mode, per the serial_rx_mode parameter
 	 * in the config packet.
 	 */
 	uint8_t		serial_rx_mode;
+
+	/**
+	 * If true, the RC signal has been lost for more than a timeout interval
+	 */
+	bool		rc_lost;
+
+	/**
+	 * If true, the connection to FMU has been lost for more than a timeout interval
+	 */
+	bool		fmu_lost;
+
+	/**
+	 * If true, FMU is ready for autonomous position control. Only used for LED indication
+	 */
+	bool vector_flight_mode_ok;
+
+	/**
+	 * If true, IO performs an on-board manual override with the RC channel values
+	 */
+	bool manual_override_ok;
 };
 
 extern struct sys_state_s system_state;
@@ -140,8 +166,8 @@ extern volatile int	timers[TIMER_NUM_TIMERS];
 #define LED_SAFETY(_s)		stm32_gpiowrite(GPIO_LED3, !(_s))
 
 #define POWER_SERVO(_s)		stm32_gpiowrite(GPIO_SERVO_PWR_EN, (_s))
-#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_SERVO_ACC1_EN, (_s))
-#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_SERVO_ACC2_EN, (_s))
+#define POWER_ACC1(_s)		stm32_gpiowrite(GPIO_ACC1_PWR_EN, (_s))
+#define POWER_ACC2(_s)		stm32_gpiowrite(GPIO_ACC2_PWR_EN, (_s))
 #define POWER_RELAY1(_s)	stm32_gpiowrite(GPIO_RELAY1_EN, (_s))
 #define POWER_RELAY2(_s)	stm32_gpiowrite(GPIO_RELAY2_EN, (_s))
 
@@ -172,7 +198,8 @@ extern void	controls_main(void);
 extern int	dsm_init(const char *device);
 extern bool	dsm_input(void);
 extern int	sbus_init(const char *device);
-extern bool	sbus_input(void);
+extern bool	sbus_input(int fd, unsigned max_channels, uint16_t *channel_data, unsigned *channel_count,
+		uint64_t *receive_time, bool *updated);
 
 /*
  * Assertion codes