diff options
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 711674886..f5ff6e55e 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2222,6 +2222,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_FAILSAFE: + /* force failsafe mode instantly */ + if (arg == 0) { + /* clear force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0); + } else { + /* set force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ |