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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
2014-10-09 15:35:18 +11:00
parent 2e33683630
commit dd23d0acbc
5 changed files with 16 additions and 0 deletions
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src/modules/px4iofirmware/protocol.h
+1
View File
@@ -221,6 +221,7 @@ enum { /* DSM bind states */
hence index 12 can safely be used. */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
#define PX4IO_P_SETUP_FORCE_SAFETY_ON 14 /* force safety switch into 'disarmed' (PWM disabled state) */
#define PX4IO_FORCE_SAFETY_MAGIC 22027 /* required argument for force safety (random) */
/* autopilot control values, -10000..10000 */
src/modules/px4iofirmware/registers.c
+6
View File
@@ -603,6 +603,12 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
dsm_bind(value & 0x0f, (value >> 4) & 0xF);
break;
case PX4IO_P_SETUP_FORCE_SAFETY_ON:
if (value == PX4IO_FORCE_SAFETY_MAGIC) {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
}
break;
case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
if (value == PX4IO_FORCE_SAFETY_MAGIC) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;