fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4fmu: allow control of safety state on FMUv4

Browse Source 
allows for MAVLink control of safety state
This commit is contained in:
Andrew Tridgell 2016-04-13 15:14:09 +10:00 committed by Lorenz Meier
parent 9199c5ec17
commit 6552f925f8
1 changed files with 8 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
src/drivers/px4fmu/fmu.cpp
View File

@ -1521,9 +1521,16 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety switch off */
_safety_off = true;
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
/* force safety switch on */
_safety_off = false;
break;
case PWM_SERVO_DISARM: