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drivers: allow forcing the safety switch on

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This allows forcing the safety switch to the on position from software
which stops the pwm outputs
This commit is contained in:
Andrew Tridgell
2014-10-30 08:44:00 +11:00
parent 2e33683630
commit dd23d0acbc
5 changed files with 16 additions and 0 deletions
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src/drivers/px4io/px4io.cpp
+5
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@@ -2278,6 +2278,11 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
/* force safety switch on */
ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
break;
case PWM_SERVO_SET_FORCE_FAILSAFE:
/* force failsafe mode instantly */
if (arg == 0) {