From 6552f925f8d654dc2b1fd56fcf38dc503c0056be Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 13 Apr 2016 15:14:09 +1000 Subject: [PATCH] px4fmu: allow control of safety state on FMUv4 allows for MAVLink control of safety state --- src/drivers/px4fmu/fmu.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 9b5f828df1..142df0e5ea 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -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: