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Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found).

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Lorenz Meier
2014-04-05 11:02:22 +02:00
parent 9123ebce8c
commit 9a0b2b7610
5 changed files with 33 additions and 16 deletions
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src/modules/px4iofirmware/protocol.h
+11 -10
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@@ -168,7 +168,6 @@
#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
#define PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT (1 << 4) /**< enable RC fail detection based on channel value */
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
@@ -202,13 +201,15 @@ enum { /* DSM bind states */
dsm_bind_send_pulses,
dsm_bind_reinit_uart
};
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* 12 occupied by CRC */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
@@ -218,10 +219,10 @@ enum { /* DSM bind states */
#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_VALID 64
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 52