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HAL_VRBrain: implement force_safety_on

This commit is contained in:
Randy Mackay 2014-09-14 17:24:13 +09:00
parent ffcd259b4e
commit 6da1420541
2 changed files with 7 additions and 0 deletions
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6
libraries/AP_HAL_VRBRAIN/RCOutput.cpp
View File

@ -149,6 +149,12 @@ void VRBRAINRCOutput::set_failsafe_pwm(uint32_t chmask, uint16_t period_us)
}
}
bool VRBRAINRCOutput::force_safety_on(void)
{
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
return (ret == OK);
}
void VRBRAINRCOutput::force_safety_off(void)
{
int ret = ioctl(_pwm_fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);

1
libraries/AP_HAL_VRBRAIN/RCOutput.h
View File

@ -21,6 +21,7 @@ public:
void read(uint16_t* period_us, uint8_t len);
void set_safety_pwm(uint32_t chmask, uint16_t period_us);
void set_failsafe_pwm(uint32_t chmask, uint16_t period_us);
bool force_safety_on(void);
void force_safety_off(void);
void _timer_tick(void);