diff options
Diffstat (limited to 'src/drivers/px4io/px4io.cpp')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index fbb5d4f2e..d212be766 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1617,6 +1617,9 @@ PX4IO::io_publish_raw_rc() } else if (_status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val.input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (_status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val.input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; @@ -1934,13 +1937,15 @@ PX4IO::print_status(bool extended_status) io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); uint16_t io_status_flags = flags; - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_OK) ? " RC_OK" : " RC_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM) ? " PPM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) ? " DSM" : ""), + ((flags & PX4IO_P_STATUS_FLAGS_RC_ST24) ? " ST24" : ""), ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) ? " SBUS" : ""), ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK) ? " FMU_OK" : " FMU_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PWM_PASSTHROUGH" : ""), @@ -2465,6 +2470,9 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) } else if (status & PX4IO_P_STATUS_FLAGS_RC_SBUS) { rc_val->input_source = RC_INPUT_SOURCE_PX4IO_SBUS; + } else if (status & PX4IO_P_STATUS_FLAGS_RC_ST24) { + rc_val->input_source = RC_INPUT_SOURCE_PX4IO_ST24; + } else { rc_val->input_source = RC_INPUT_SOURCE_UNKNOWN; } |