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commander/safety: replace safety.msg with Safety class (#19558)

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This commit is contained in:
Igor Misic
2022-05-20 16:17:22 +02:00
committed by Beat Küng
parent b800600a6c
commit 08dcc72e1f
15 changed files with 106 additions and 126 deletions
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src/modules/commander/esc_calibration.cpp
-10
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@@ -52,7 +52,6 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/actuator_test.h>
#include <uORB/topics/safety.h>
#include <parameters/param.h>
using namespace time_literals;
@@ -94,15 +93,6 @@ static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, f
int do_esc_calibration_ctrl_alloc(orb_advert_t *mavlink_log_pub)
{
// check safety
uORB::SubscriptionData<safety_s> safety_sub{ORB_ID(safety)};
safety_sub.update();
if (safety_sub.get().safety_switch_available && !safety_sub.get().safety_off) {
calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disable safety first");
return PX4_ERROR;
}
int return_code = PX4_OK;
uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
// since we publish multiple at once, make sure the output driver subscribes before we publish