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px4fmu: allow control of safety state on FMUv4

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allows for MAVLink control of safety state
This commit is contained in:
Andrew Tridgell
2016-04-13 15:14:09 +10:00
committed by Lorenz Meier
parent 9199c5ec17
commit 6552f925f8
1 changed files with 8 additions and 1 deletions
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9
src/drivers/px4fmu/fmu.cpp
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@@ -1521,9 +1521,16 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
case PWM_SERVO_SET_ARM_OK:
case PWM_SERVO_CLEAR_ARM_OK:
break;
case PWM_SERVO_SET_FORCE_SAFETY_OFF:
/* force safety switch off */
_safety_off = true;
break;
case PWM_SERVO_SET_FORCE_SAFETY_ON:
// these are no-ops, as no safety switch
/* force safety switch on */
_safety_off = false;
break;
case PWM_SERVO_DISARM: