From 00a3270dc696e09ad1e8f7b0eec579b92b6c0e2e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 26 Jan 2014 15:52:51 +0100 Subject: Differentiate between failsafe having kicked in (which stops the normal output mixing based on RC outputs and prevents unwanted control commands due to failsafe) and a true loss of the receiver, where we stop outputting RC channel readings downstream on FMU. --- src/modules/px4iofirmware/px4io.h | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'src/modules/px4iofirmware/px4io.h') diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 39272104d..bb224f388 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -116,7 +116,8 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */ */ struct sys_state_s { - volatile uint64_t rc_channels_timestamp; + volatile uint64_t rc_channels_timestamp_received; + volatile uint64_t rc_channels_timestamp_valid; /** * Last FMU receive time, in microseconds since system boot -- cgit v1.2.3