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Lorenz Meier
2013-01-06 11:47:30 +01:00
parent 4462a25ce9 7842caf3b2
commit f788d452ea
6 changed files with 119 additions and 14 deletions
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apps/px4io/protocol.h
+7 -2
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@@ -59,7 +59,7 @@ struct px4io_command {
bool relay_state[PX4IO_RELAY_CHANNELS]; /**< relay states as requested by FMU */
bool arm_ok; /**< FMU allows full arming */
bool vector_flight_mode_ok; /**< FMU aquired a valid position lock, ready for pos control */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
bool manual_override_ok; /**< if true, IO performs a direct manual override */
};
/**
@@ -85,7 +85,12 @@ struct px4io_config {
uint16_t f2i_config_magic;
#define F2I_CONFIG_MAGIC 0x6366
/* XXX currently nothing here */
uint8_t rc_map[4]; /**< channel ordering of roll, pitch, yaw, throttle */
uint16_t rc_min[4]; /**< min value for each channel */
uint16_t rc_trim[4]; /**< trim value for each channel */
uint16_t rc_max[4]; /**< max value for each channel */
uint16_t rc_rev[4]; /**< rev value for each channel */
uint16_t rc_dz[4]; /**< dz value for each channel */
};
/**