Merge branch 'master' into beta

2026-10-23 14:53:34 +08:00 · 2014-01-30 17:23:10 +01:00
parent 13a5b5b4a3 2f267fbf43
commit f64872b9b3
19 changed files with 649 additions and 176 deletions
@@ -193,6 +193,20 @@ ORB_DECLARE(output_pwm);
 * split between servos and GPIO */
 #define PWM_SERVO_SET_COUNT	_IOC(_PWM_SERVO_BASE, 20)

+/** set the lockdown override flag to enable outputs in HIL */
+#define PWM_SERVO_SET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 21)
+
+/** get the lockdown override flag to enable outputs in HIL */
+#define PWM_SERVO_GET_DISABLE_LOCKDOWN		_IOC(_PWM_SERVO_BASE, 22)
+
+/*
+ *
+ *
+ * WARNING WARNING WARNING! DO NOT EXCEED 31 IN IOC INDICES HERE!
+ *
+ *
+ */
+
 /** set a single servo to a specific value */
 #define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -62,6 +62,11 @@
 */
 #define RC_INPUT_MAX_CHANNELS	18

+/**
+ * Maximum RSSI value
+ */
+#define RC_INPUT_RSSI_MAX	255
+
 /**
 * Input signal type, value is a control position from zero to 100
 * percent.
@@ -83,8 +88,11 @@ enum RC_INPUT_SOURCE {
 * on the board involved.
 */
 struct rc_input_values {
-	/** decoding time */
-	uint64_t		timestamp;
+	/** publication time */
+	uint64_t		timestamp_publication;
+
+	/** last valid reception time */
+	uint64_t		timestamp_last_signal;

 	/** number of channels actually being seen */
 	uint32_t		channel_count;
@@ -92,6 +100,40 @@ struct rc_input_values {
 	/** receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 255: full reception */
 	int32_t			rssi;

+	/**
+	 * explicit failsafe flag: true on TX failure or TX out of range , false otherwise.
+	 * Only the true state is reliable, as there are some (PPM) receivers on the market going
+	 * into failsafe without telling us explicitly.
+	 * */
+	bool			rc_failsafe;
+
+	/**
+	 * RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise.
+	 * True usally means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems.
+	 * Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
+	 * */
+	bool			rc_lost;
+
+	/**
+	 * Number of lost RC frames.
+	 * Note: intended purpose: observe the radio link quality if RSSI is not available
+	 * This value must not be used to trigger any failsafe-alike funtionality.
+	 * */
+	uint16_t		rc_lost_frame_count;
+
+	/**
+	 * Number of total RC frames.
+	 * Note: intended purpose: observe the radio link quality if RSSI is not available
+	 * This value must not be used to trigger any failsafe-alike funtionality.
+	 * */
+	uint16_t		rc_total_frame_count;
+
+	/**
+	 * Length of a single PPM frame.
+	 * Zero for non-PPM systems
+	 */
+	uint16_t		rc_ppm_frame_length;
+
 	/** Input source */
 	enum RC_INPUT_SOURCE 	input_source;

@@ -107,8 +149,12 @@ ORB_DECLARE(input_rc);
 #define _RC_INPUT_BASE		0x2b00

 /** Fetch R/C input values into (rc_input_values *)arg */
-
 #define RC_INPUT_GET			_IOC(_RC_INPUT_BASE, 0)

+/** Enable RSSI input via ADC */
+#define RC_INPUT_ENABLE_RSSI_ANALOG	_IOC(_RC_INPUT_BASE, 1)
+
+/** Enable RSSI input via PWM signal */
+#define RC_INPUT_ENABLE_RSSI_PWM	_IOC(_RC_INPUT_BASE, 2)

 #endif /* _DRV_RC_INPUT_H */
@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file drv_sbus.h
+ *
+ * Futaba S.BUS / S.BUS 2 compatible interface.
+ */
+
+#ifndef _DRV_SBUS_H
+#define _DRV_SBUS_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_orb_dev.h"
+
+/**
+ * Path for the default S.BUS device
+ */
+#define SBUS_DEVICE_PATH	"/dev/sbus"
+
+#define _SBUS_BASE		0x2c00
+
+/** Enable S.BUS version 1 / 2 output (0 to disable) */
+#define SBUS_SET_PROTO_VERSION		_IOC(_SBUS_BASE, 0)
+
+#endif /* _DRV_SBUS_H */
@@ -209,7 +209,7 @@ GPS::init()
 		goto out;

 	/* start the GPS driver worker task */
-	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
+	_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 1280, (main_t)&GPS::task_main_trampoline, nullptr);

 	if (_task < 0) {
 		warnx("task start failed: %d", errno);
@@ -626,7 +626,7 @@ PX4FMU::task_main()
 #ifdef HRT_PPM_CHANNEL

 		// see if we have new PPM input data
-		if (ppm_last_valid_decode != rc_in.timestamp) {
+		if (ppm_last_valid_decode != rc_in.timestamp_last_signal) {
 			// we have a new PPM frame. Publish it.
 			rc_in.channel_count = ppm_decoded_channels;

@@ -638,7 +638,15 @@ PX4FMU::task_main()
 				rc_in.values[i] = ppm_buffer[i];
 			}

-			rc_in.timestamp = ppm_last_valid_decode;
+			rc_in.timestamp_publication = ppm_last_valid_decode;
+			rc_in.timestamp_last_signal = ppm_last_valid_decode;
+
+			rc_in.rc_ppm_frame_length = ppm_frame_length;
+			rc_in.rssi = RC_INPUT_RSSI_MAX;
+			rc_in.rc_failsafe = false;
+			rc_in.rc_lost = false;
+			rc_in.rc_lost_frame_count = 0;
+			rc_in.rc_total_frame_count = 0;

 			/* lazily advertise on first publication */
 			if (to_input_rc == 0) {
@@ -61,6 +61,7 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_rc_input.h>
 #include <drivers/drv_pwm_output.h>
+#include <drivers/drv_sbus.h>
 #include <drivers/drv_gpio.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_mixer.h>
@@ -238,6 +239,7 @@ private:
 	unsigned 		_update_interval;	///< Subscription interval limiting send rate
 	bool			_rc_handling_disabled;	///< If set, IO does not evaluate, but only forward the RC values
 	unsigned		_rc_chan_count;		///< Internal copy of the last seen number of RC channels
+	uint64_t		_rc_last_valid;		///< last valid timestamp

 	volatile int		_task;			///< worker task id
 	volatile bool		_task_should_exit;	///< worker terminate flag
@@ -274,6 +276,7 @@ private:
 	servorail_status_s	_servorail_status;	///< servorail status

 	bool			_primary_pwm_device;	///< true if we are the default PWM output
+	bool			_lockdown_override;	///< allow to override the safety lockdown

 	float			_battery_amp_per_volt;	///< current sensor amps/volt
 	float			_battery_amp_bias;	///< current sensor bias
@@ -444,7 +447,7 @@ private:
 	 * @param vservo	vservo register
 	 * @param vrssi 	vrssi register
 	 */
-	void			io_handle_vservo(uint16_t vbatt, uint16_t ibatt);
+	void			io_handle_vservo(uint16_t vservo, uint16_t vrssi);

 };

@@ -467,6 +470,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_update_interval(0),
 	_rc_handling_disabled(false),
 	_rc_chan_count(0),
+	_rc_last_valid(0),
 	_task(-1),
 	_task_should_exit(false),
 	_mavlink_fd(-1),
@@ -490,6 +494,7 @@ PX4IO::PX4IO(device::Device *interface) :
 	_to_servorail(0),
 	_to_safety(0),
 	_primary_pwm_device(false),
+	_lockdown_override(false),
 	_battery_amp_per_volt(90.0f / 5.0f), // this matches the 3DR current sensor
 	_battery_amp_bias(0),
 	_battery_mamphour_total(0),
@@ -756,7 +761,7 @@ PX4IO::init()
 	}

 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);

 	if (_task < 0) {
 		debug("task start failed: %d", errno);
@@ -1047,13 +1052,19 @@ PX4IO::io_set_arming_state()
 	uint16_t set = 0;
 	uint16_t clear = 0;

-	if (armed.armed && !armed.lockdown) {
+	if (armed.armed) {
 		set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;

 	} else {
 		clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
 	}

+	if (armed.lockdown && !_lockdown_override) {
+		set |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+	} else {
+		clear |= PX4IO_P_SETUP_ARMING_LOCKDOWN;
+	}
+
 	if (armed.ready_to_arm) {
 		set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;

@@ -1357,7 +1368,10 @@ PX4IO::io_get_status()
 	uint16_t	regs[6];
 	int		ret;

-	/* get STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT in that order */
+	/* get
+	 * STATUS_FLAGS, STATUS_ALARMS, STATUS_VBATT, STATUS_IBATT,
+	 * STATUS_VSERVO, STATUS_VRSSI, STATUS_PRSSI
+	 * in that order */
 	ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, &regs[0], sizeof(regs) / sizeof(regs[0]));

 	if (ret != OK)
@@ -1394,7 +1408,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 *
 	 * This should be the common case (9 channel R/C control being a reasonable upper bound).
 	 */
-	input_rc.timestamp = hrt_absolute_time();
+	input_rc.timestamp_publication = hrt_absolute_time();
+
 	ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT, &regs[0], prolog + 9);

 	if (ret != OK)
@@ -1404,13 +1419,25 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 	 * Get the channel count any any extra channels. This is no more expensive than reading the
 	 * channel count once.
 	 */
-	channel_count = regs[0];
+	channel_count = regs[PX4IO_P_RAW_RC_COUNT];

 	if (channel_count != _rc_chan_count)
 		perf_count(_perf_chan_count);

 	_rc_chan_count = channel_count;

+	input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
+	input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
+	input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
+	input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
+	input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
+
+	/* rc_lost has to be set before the call to this function */
+	if (!input_rc.rc_lost && !input_rc.rc_failsafe)
+		_rc_last_valid = input_rc.timestamp_publication;
+
+	input_rc.timestamp_last_signal = _rc_last_valid;
+
 	if (channel_count > 9) {
 		ret = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + 9, &regs[prolog + 9], channel_count - 9);

@@ -1427,13 +1454,12 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 int
 PX4IO::io_publish_raw_rc()
 {
-	/* if no raw RC, just don't publish */
-	if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
-		return OK;

 	/* fetch values from IO */
 	rc_input_values	rc_val;
-	rc_val.timestamp = hrt_absolute_time();
+
+	/* set the RC status flag ORDER MATTERS! */
+	rc_val.rc_lost = !(_status & PX4IO_P_STATUS_FLAGS_RC_OK);

 	int ret = io_get_raw_rc_input(rc_val);

@@ -1452,13 +1478,11 @@ PX4IO::io_publish_raw_rc()

 	} else {
 		rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
-	}

-	/* set RSSI */
-
-	if (rc_val.input_source != RC_INPUT_SOURCE_PX4IO_SBUS) {
-		// XXX the correct scaling needs to be validated here
-		rc_val.rssi = (_servorail_status.rssi_v / 3.3f) * UINT8_MAX;
+		/* we do not know the RC input, only publish if RC OK flag is set */
+		/* if no raw RC, just don't publish */
+		if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
+			return OK;
 	}

 	/* lazily advertise on first publication */
@@ -1767,15 +1791,14 @@ PX4IO::print_status()
 	printf("%u bytes free\n",
 	       io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM));
 	uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS);
-	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s%s\n",
+	uint16_t io_status_flags = flags;
+	printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n",
 	       flags,
 	       ((flags & PX4IO_P_STATUS_FLAGS_OUTPUTS_ARMED) ? " OUTPUTS_ARMED" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) ? " SAFETY_OFF" : " SAFETY_SAFE"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_OK)    ? " RC_OK" : " RC_FAIL"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)   ? " PPM" : ""),
-	       (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_STATUS_FLAGS_RC_DSM11))) ? " DSM10" : ""),
-	       (((flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_STATUS_FLAGS_RC_DSM11)) ? " DSM11" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RC_SBUS)  ? " SBUS" : ""),
 	       ((flags & PX4IO_P_STATUS_FLAGS_FMU_OK)   ? " FMU_OK" : " FMU_FAIL"),
 	       ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)  ? " RAW_PWM_PASSTHROUGH" : ""),
@@ -1834,8 +1857,17 @@ PX4IO::print_status()

 	printf("\n");

-	if ((flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) {
-		int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
+	flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS);
+	printf("R/C flags: 0x%04x%s%s%s%s%s\n", flags,
+		(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""),
+		(((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) ? " FAILSAFE" : ""),
+		((flags & PX4IO_P_RAW_RC_FLAGS_MAPPING_OK) ? " MAPPING_OK" : "")
+	       );
+
+	if ((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM)) {
+		int frame_len = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_DATA);
 		printf("RC data (PPM frame len) %u us\n", frame_len);

 		if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
@@ -1861,16 +1893,23 @@ PX4IO::print_status()
 	printf("\n");

 	/* setup and state */
-	printf("features 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES));
+	uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES);
+	printf("features 0x%04x%s%s%s%s\n", features,
+		((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""),
+		((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "")
+		);
 	uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING);
-	printf("arming 0x%04x%s%s%s%s%s%s\n",
+	printf("arming 0x%04x%s%s%s%s%s%s%s\n",
 	       arming,
-	       ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)          ? " FMU_ARMED" : " FMU_DISARMED"),
-	       ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)	    ? " IO_ARM_OK" : " IO_ARM_DENIED"),
-	       ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)   ? " FAILSAFE_CUSTOM" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)   ? " INAIR_RESTART_OK" : ""),
-	       ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)  ? " ALWAYS_PWM_ENABLE" : ""));
+	       ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		? " FMU_ARMED" : " FMU_DISARMED"),
+	       ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)		? " IO_ARM_OK" : " IO_ARM_DENIED"),
+	       ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK)	? " MANUAL_OVERRIDE_OK" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_FAILSAFE_CUSTOM)		? " FAILSAFE_CUSTOM" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK)	? " INAIR_RESTART_OK" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_ALWAYS_PWM_ENABLE)	? " ALWAYS_PWM_ENABLE" : ""),
+	       ((arming & PX4IO_P_SETUP_ARMING_LOCKDOWN)		? " LOCKDOWN" : ""));
 #ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
 	printf("rates 0x%04x default %u alt %u relays 0x%04x\n",
 	       io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES),
@@ -2067,6 +2106,14 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;

+	case PWM_SERVO_SET_DISABLE_LOCKDOWN:
+		_lockdown_override = arg;
+		break;
+
+	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
+		*(unsigned *)arg = _lockdown_override;
+		break;
+
 	case DSM_BIND_START:
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
 		usleep(500000);
@@ -2283,6 +2330,38 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)

 		break;

+	case RC_INPUT_ENABLE_RSSI_ANALOG:
+
+		if (arg) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_ADC_RSSI);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_ADC_RSSI, 0);
+		}
+
+		break;
+
+	case RC_INPUT_ENABLE_RSSI_PWM:
+
+		if (arg) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_PWM_RSSI);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, PX4IO_P_SETUP_FEATURES_PWM_RSSI, 0);
+		}
+
+		break;
+
+	case SBUS_SET_PROTO_VERSION:
+
+		if (arg == 1) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS1_OUT);
+		} else if (arg == 2) {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, 0, PX4IO_P_SETUP_FEATURES_SBUS2_OUT);
+		} else {
+			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES, (PX4IO_P_SETUP_FEATURES_SBUS1_OUT | PX4IO_P_SETUP_FEATURES_SBUS2_OUT), 0);
+		}
+
+		break;
+
 	default:
 		/* not a recognized value */
 		ret = -ENOTTY;
@@ -2656,7 +2735,7 @@ monitor(void)
 	/* clear screen */
 	printf("\033[2J");

-	unsigned cancels = 3;
+	unsigned cancels = 2;

 	for (;;) {
 		pollfd fds[1];
@@ -2692,13 +2771,72 @@ void
 if_test(unsigned mode)
 {
 	device::Device *interface = get_interface();
+	int result;

-	int result = interface->ioctl(1, mode); /* XXX magic numbers */
-	delete interface;
+	if (interface) {
+		result = interface->ioctl(1, mode); /* XXX magic numbers */
+		delete interface;
+	} else {
+		errx(1, "interface not loaded, exiting");
+	}

 	errx(0, "test returned %d", result);
 }

+void
+lockdown(int argc, char *argv[])
+{
+	if (g_dev != nullptr) {
+
+			if (argc > 2 && !strcmp(argv[2], "disable")) {
+
+				warnx("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
+				warnx("Press 'y' to enable, any other key to abort.");
+
+				/* check if user wants to abort */
+				char c;
+
+				struct pollfd fds;
+				int ret;
+				hrt_abstime start = hrt_absolute_time();
+				const unsigned long timeout = 5000000;
+
+				while (hrt_elapsed_time(&start) < timeout) {
+					fds.fd = 0; /* stdin */
+					fds.events = POLLIN;
+					ret = poll(&fds, 1, 0);
+
+					if (ret > 0) {
+
+						read(0, &c, 1);
+
+						if (c != 'y') {
+							exit(0);
+						} else if (c == 'y') {
+							break;
+						}
+					}
+
+					usleep(10000);
+				}
+
+				if (hrt_elapsed_time(&start) > timeout)
+					errx(1, "TIMEOUT! ABORTED WITHOUT CHANGES.");
+
+				(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
+
+				warnx("WARNING: ACTUATORS ARE NOW LIVE IN HIL!");
+			} else {
+				(void)g_dev->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
+				warnx("ACTUATORS ARE NOW SAFE IN HIL.");
+			}
+			
+		} else {
+			errx(1, "driver not loaded, exiting");
+		}
+	exit(0);
+}
+
 } /* namespace */

 int
@@ -2932,6 +3070,63 @@ px4io_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "bind"))
 		bind(argc, argv);

+	if (!strcmp(argv[1], "lockdown"))
+		lockdown(argc, argv);
+
+	if (!strcmp(argv[1], "sbus1_out")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
+
+		if (ret != 0) {
+			errx(ret, "S.BUS v1 failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "sbus2_out")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
+
+		if (ret != 0) {
+			errx(ret, "S.BUS v2 failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "rssi_analog")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_ANALOG, 1);
+
+		if (ret != 0) {
+			errx(ret, "RSSI analog failed");
+		}
+
+		exit(0);
+	}
+
+	if (!strcmp(argv[1], "rssi_pwm")) {
+		/* we can cheat and call the driver directly, as it
+		 * doesn't reference filp in ioctl()
+		 */
+		int ret = g_dev->ioctl(nullptr, RC_INPUT_ENABLE_RSSI_PWM, 1);
+
+		if (ret != 0) {
+			errx(ret, "RSSI PWM failed");
+		}
+
+		exit(0);
+	}
+
 out:
-	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug',\n 'recovery', 'limit', 'current', 'bind', 'checkcrc', 'forceupdate' or 'update'");
+	errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
+	        "'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n"
+	        "'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
 }