diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 3006cf885..a40142792 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1358,6 +1358,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED); break; + case PWM_SERVO_SET_ARM_OK: + /* set the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK); + break; + + case PWM_SERVO_CLEAR_ARM_OK: + /* clear the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0); + break; + case PWM_SERVO_DISARM: /* clear the 'armed' bit */ ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0); |