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px4-firmware
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PX4IO driver: Add support to set force failsafe

This commit is contained in:
Lorenz Meier 2014-07-18 11:19:05 +02:00
parent 9a53fd9648
commit 903b482378
2 changed files with 14 additions and 0 deletions
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3
src/drivers/drv_pwm_output.h
View File

@ -202,6 +202,9 @@ ORB_DECLARE(output_pwm);
/** force safety switch off (to disable use of safety switch) */ /** force safety switch off (to disable use of safety switch) */
#define PWM_SERVO_SET_FORCE_SAFETY_OFF _IOC(_PWM_SERVO_BASE, 23) #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)
/* /*
* *
* *

11
src/drivers/px4io/px4io.cpp
View File

@ -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); ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break; 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: case DSM_BIND_START:
/* only allow DSM2, DSM-X and DSM-X with more than 7 channels */ /* only allow DSM2, DSM-X and DSM-X with more than 7 channels */