From ab1939c6a30b6f4de06c83245c9f99ed350a4559 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 25 Mar 2014 11:54:37 +1100
Subject: pwm: added PWM_SERVO_SET_FORCE_SAFETY_OFF ioctl

this allows the safety switch on px4io to be forced off
---
 src/drivers/px4io/px4io.cpp | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/drivers/px4io')

diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index e318e206a..e5a39ffb0 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2129,6 +2129,10 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
 		*(unsigned *)arg = _lockdown_override;
+
+	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
+		/* force safety swith off */
+		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
 		break;
 
 	case DSM_BIND_START:
-- 
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