diff options
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 12 |
1 files changed, 12 insertions, 0 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 3a9246bf2..8e7e93679 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -1529,6 +1529,7 @@ enum PortMode { PORT_GPIO_AND_SERIAL, PORT_PWM_AND_SERIAL, PORT_PWM_AND_GPIO, + PORT_PWM4, }; PortMode g_port_mode; @@ -1564,6 +1565,13 @@ fmu_new_mode(PortMode new_mode) #endif break; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + case PORT_PWM4: + /* select 4-pin PWM mode */ + servo_mode = PX4FMU::MODE_4PWM; + break; +#endif + /* mixed modes supported on v1 board only */ #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) @@ -1836,6 +1844,10 @@ fmu_main(int argc, char *argv[]) } else if (!strcmp(verb, "mode_pwm")) { new_mode = PORT_FULL_PWM; +#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2) + } else if (!strcmp(verb, "mode_pwm4")) { + new_mode = PORT_PWM4; +#endif #if defined(CONFIG_ARCH_BOARD_PX4FMU_V1) } else if (!strcmp(verb, "mode_serial")) { |