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arming: added PWM_SERVO_SET_ARM_OK and PWM_SERVO_CLEAR_ARM_OK

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these new ioctls allow for the flight code to tell the IO board that
arming can proceed
This commit is contained in:
Andrew Tridgell
2013-05-16 16:21:33 +10:00
committed by Lorenz Meier
parent d02f5c5505
commit fa816d0fd6
3 changed files with 21 additions and 0 deletions
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10
src/drivers/px4io/px4io.cpp
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@@ -1358,6 +1358,16 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED);
break;
case PWM_SERVO_SET_ARM_OK:
/* set the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK);
break;
case PWM_SERVO_CLEAR_ARM_OK:
/* clear the 'OK to arm' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0);
break;
case PWM_SERVO_DISARM:
/* clear the 'armed' bit */
ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0);