IO - Send flight termination circuit breaker state to IO through PX4IO_P_SETUP_ENABLE_FLIGHTTERM

src/drivers/px4io/px4io.cpp

@@ -1031,6 +1031,8 @@ PX4IO::task_main()
 
 				/* Check if the flight termination circuit breaker has been updated */
 				_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
+				/* Tell IO that it can terminate the flight if FMU is not responding */
+				(void)io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ENABLE_FLIGHTTERM, !_cb_flighttermination);
 
 				param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
 				param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);

src/modules/px4iofirmware/protocol.h

@@ -240,6 +240,8 @@ enum {							/* DSM bind states */
 
 #define PX4IO_P_SETUP_AIRMODE 			27 	/* air-mode */
 
+#define PX4IO_P_SETUP_ENABLE_FLIGHTTERM		28	/* flight termination circuit breaker */
+
 #define PX4IO_THERMAL_IGNORE			UINT16_MAX
 #define PX4IO_THERMAL_OFF			0
 #define PX4IO_THERMAL_FULL			10000

src/modules/px4iofirmware/px4io.h

@@ -133,6 +133,7 @@ extern uint16_t			r_page_servo_disarmed[];	/* PX4IO_PAGE_DISARMED_PWM */
 #define r_setup_thr_fac		r_page_setup[PX4IO_P_SETUP_THR_MDL_FAC]
 #define r_setup_slew_max	r_page_setup[PX4IO_P_SETUP_MOTOR_SLEW_MAX]
 #define r_setup_airmode		r_page_setup[PX4IO_P_SETUP_AIRMODE]
+#define r_setup_flightterm	r_page_setup[PX4IO_P_SETUP_ENABLE_FLIGHTTERM]
 
 #define r_control_values	(&r_page_controls[0])
 

src/modules/px4iofirmware/registers.c

@@ -181,7 +181,8 @@ volatile uint16_t	r_page_setup[] = {
 	[PX4IO_P_SETUP_MOTOR_SLEW_MAX] = 0,
 	[PX4IO_P_SETUP_AIRMODE] = 0,
 	[PX4IO_P_SETUP_THR_MDL_FAC] = 0,
-	[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE
+	[PX4IO_P_SETUP_THERMAL] = PX4IO_THERMAL_IGNORE,
+	[PX4IO_P_SETUP_ENABLE_FLIGHTTERM] = 0
 };
 
 #define PX4IO_P_SETUP_FEATURES_VALID	(PX4IO_P_SETUP_FEATURES_SBUS1_OUT | \
@@ -712,6 +713,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 		case PX4IO_P_SETUP_MOTOR_SLEW_MAX:
 		case PX4IO_P_SETUP_AIRMODE:
 		case PX4IO_P_SETUP_THERMAL:
+		case PX4IO_P_SETUP_ENABLE_FLIGHTTERM:
 			r_page_setup[offset] = value;
 			break;