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AP_HAL: added force_safety_off rcoutput function 

this forces the safety switch off, enabling PWM on the IO board
This commit is contained in:
Andrew Tridgell 2014-02-11 15:56:44 +11:00
parent 89b222f1cf
commit 439a075b30
3 changed files with 14 additions and 0 deletions
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5
libraries/AP_HAL/RCOutput.h
View File

@ -48,6 +48,11 @@ public:
in the safe state in the safe state
*/ */
virtual void set_safety_pwm(uint32_t chmask, uint16_t period_us) {} virtual void set_safety_pwm(uint32_t chmask, uint16_t period_us) {}
/*
force the safety switch off, enabling PWM output from the IO board
*/
virtual void force_safety_off(void) {}
}; };
#endif // __AP_HAL_RC_OUTPUT_H__ #endif // __AP_HAL_RC_OUTPUT_H__

8
libraries/AP_HAL_PX4/RCOutput.cpp
View File

@ -160,6 +160,14 @@ void PX4RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
} }
} }
void PX4RCOutput::force_safety_off(void)
{
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if (ret != OK) {
hal.console->printf("Failed to force safety off\n");
}
}
void PX4RCOutput::write(uint8_t ch, uint16_t period_us) void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
{ {
if (ch >= _servo_count + _alt_servo_count) { if (ch >= _servo_count + _alt_servo_count) {

1
libraries/AP_HAL_PX4/RCOutput.h
View File

@ -20,6 +20,7 @@ public:
uint16_t read(uint8_t ch); uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len); void read(uint16_t* period_us, uint8_t len);
void set_safety_pwm(uint32_t chmask, uint16_t period_us); void set_safety_pwm(uint32_t chmask, uint16_t period_us);
void force_safety_off(void);
void _timer_tick(void); void _timer_tick(void);