From 903b482378516f26ef0faa4d658597e0af2fb35d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 18 Jul 2014 11:19:05 +0200 Subject: [PATCH] PX4IO driver: Add support to set force failsafe --- src/drivers/drv_pwm_output.h | 3 +++ src/drivers/px4io/px4io.cpp | 11 +++++++++++ 2 files changed, 14 insertions(+) diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 972573f9ff..84815fdfbb 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -202,6 +202,9 @@ ORB_DECLARE(output_pwm); /** force safety switch off (to disable use of safety switch) */ #define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) +/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */ +#define PWM_SERVO_SET_FORCE_FAILSAFE _IOC(_PWM_SERVO_BASE, 24) + /* * * diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 711674886c..f5ff6e55e5 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -2222,6 +2222,17 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg) ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC); break; + case PWM_SERVO_SET_FORCE_FAILSAFE: + /* force failsafe mode instantly */ + if (arg == 0) { + /* clear force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0); + } else { + /* set force failsafe flag */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE); + } + break; + case DSM_BIND_START: /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */