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px4-firmware
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Add force failsafe flag

This commit is contained in:
Lorenz Meier 2014-07-18 11:18:32 +02:00
parent 213fe0cc20
commit 9a53fd9648
2 changed files with 13 additions and 1 deletions
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9
src/modules/px4iofirmware/mixer.cpp
View File

@ -111,7 +111,7 @@ mixer_tick(void)
r_status_flags |= PX4IO_P_STATUS_FLAGS_FMU_OK;
}
/* default to failsafe mixing */
/* default to failsafe mixing - it will be forced below if flag is set */
source = MIX_FAILSAFE;
/*
@ -154,6 +154,13 @@ mixer_tick(void)
}
}
/*
* Check if we should force failsafe - and do it if we have to
*/
if (r_setup_arming & PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE) {
source = MIX_FAILSAFE;
}
/*
* Set failsafe status flag depending on mixing source
*/

5
src/modules/px4iofirmware/protocol.h
View File

@ -179,6 +179,7 @@
#define PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE (1 << 5) /* Output of PWM right after startup enabled to help ESCs initialize and prevent them from beeping */
#define PX4IO_P_SETUP_ARMING_RC_HANDLING_DISABLED (1 << 6) /* Disable the IO-internal evaluation of the RC */
#define PX4IO_P_SETUP_ARMING_LOCKDOWN (1 << 7) /* If set, the system operates normally, but won't actuate any servos */
#define PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE (1 << 8) /* If set, the system will always output the failsafe values */
#define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */
#define PX4IO_P_SETUP_PWM_DEFAULTRATE 3 /* 'low' PWM frame output rate in Hz */
@ -253,6 +254,10 @@ enum { /* DSM bind states */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_FAILSAFE_PWM 55 /**< 0..CONFIG_ACTUATOR_COUNT-1 */
/* PWM failsafe values - zero disables the output */
#define PX4IO_PAGE_SENSORS 56 /**< Sensors connected to PX4IO */
#define PX4IO_P_SENSORS_ALTITUDE 0 /**< Altitude of an external sensor (HoTT or S.BUS2) */
/* Debug and test page - not used in normal operation */
#define PX4IO_PAGE_TEST 127
#define PX4IO_P_TEST_LED 0 /**< set the amber LED on/off */