From 9a0b2b7610d39f88b627046e0d90f66aada1e88f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 11:02:22 +0200 Subject: Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found). --- src/modules/px4iofirmware/protocol.h | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) (limited to 'src/modules/px4iofirmware/protocol.h') diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index b69f68107..a978d483a 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -168,7 +168,6 @@ #define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */ #define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */ #define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */ -#define PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT (1 << 4) /**< enable RC fail detection based on channel value */ #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ #define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ @@ -202,13 +201,15 @@ enum { /* DSM bind states */ dsm_bind_send_pulses, dsm_bind_reinit_uart }; - /* 8 */ -#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ + /* 8 */ +#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ -#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ -#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ +#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */ +#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */ -#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ +#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */ + /* 12 occupied by CRC */ +#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */ /* autopilot control values, -10000..10000 */ #define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */ @@ -218,10 +219,10 @@ enum { /* DSM bind states */ #define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */ #define PX4IO_P_CONTROLS_GROUP_VALID 64 -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */ -#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */ +#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */ /* raw text load to the mixer parser - ignores offset */ #define PX4IO_PAGE_MIXERLOAD 52 -- cgit v1.2.3