diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 26 |
1 files changed, 23 insertions, 3 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 653d0d5d7..3a9e8ef24 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -75,6 +75,10 @@ #include <systemlib/circuit_breaker.h> #include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_0.h> +#include <uORB/topics/actuator_controls_1.h> +#include <uORB/topics/actuator_controls_2.h> +#include <uORB/topics/actuator_controls_3.h> #include <uORB/topics/actuator_outputs.h> #include <uORB/topics/actuator_armed.h> #include <uORB/topics/safety.h> @@ -1199,7 +1203,7 @@ PX4IO::io_set_arming_state() if (armed.ready_to_arm) { set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; - + } else { clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } @@ -2585,7 +2589,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) case PWM_SERVO_SET_RC_CONFIG: { /* enable setting of RC configuration without relying - on param_get() + on param_get() */ struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg; if (config->channel >= RC_INPUT_MAX_CHANNELS) { @@ -3267,7 +3271,23 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "safety_off")) { + int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0); + if (ret != OK) { + printf("failed to disable safety\n"); + exit(1); + } + exit(0); + } + if (!strcmp(argv[1], "safety_on")) { + int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0); + if (ret != OK) { + printf("failed to enable safety\n"); + exit(1); + } + exit(0); + } if (!strcmp(argv[1], "recovery")) { @@ -3396,6 +3416,6 @@ px4io_main(int argc, char *argv[]) out: errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n" - "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n" + "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n" "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'"); } |