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Renamed actuator_safety back to actuator_armed, compiling but untested

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This commit is contained in:
Julian Oes
2013-07-15 22:15:15 +02:00
parent bf2ff98856
commit 1b38cf715d
25 changed files with 316 additions and 243 deletions
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src/drivers/px4io/px4io.cpp
+19 -18
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@@ -75,7 +75,8 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
@@ -178,7 +179,7 @@ private:
/* subscribed topics */
int _t_actuators; ///< actuator controls topic
int _t_actuator_safety; ///< system armed control topic
int _t_actuator_armed; ///< system armed control topic
int _t_vstatus; ///< system / vehicle status
int _t_param; ///< parameter update topic
@@ -360,7 +361,7 @@ PX4IO::PX4IO() :
_status(0),
_alarms(0),
_t_actuators(-1),
_t_actuator_safety(-1),
_t_actuator_armed(-1),
_t_vstatus(-1),
_t_param(-1),
_to_input_rc(0),
@@ -505,9 +506,9 @@ PX4IO::init()
* remains untouched (so manual override is still available).
*/
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int safety_sub = orb_subscribe(ORB_ID(actuator_armed));
/* fill with initial values, clear updated flag */
struct actuator_safety_s safety;
struct actuator_armed_s safety;
uint64_t try_start_time = hrt_absolute_time();
bool updated = false;
@@ -518,7 +519,7 @@ PX4IO::init()
if (updated) {
/* got data, copy and exit loop */
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
break;
}
@@ -559,7 +560,7 @@ PX4IO::init()
orb_check(safety_sub, &updated);
if (updated) {
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
orb_copy(ORB_ID(actuator_armed), safety_sub, &safety);
}
/* wait 50 ms */
@@ -643,8 +644,8 @@ PX4IO::task_main()
ORB_ID(actuator_controls_1));
orb_set_interval(_t_actuators, 20); /* default to 50Hz */
_t_actuator_safety = orb_subscribe(ORB_ID(actuator_safety));
orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */
@@ -656,7 +657,7 @@ PX4IO::task_main()
pollfd fds[4];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_safety;
fds[1].fd = _t_actuator_armed;
fds[1].events = POLLIN;
fds[2].fd = _t_vstatus;
fds[2].events = POLLIN;
@@ -832,21 +833,21 @@ PX4IO::set_idle_values(const uint16_t *vals, unsigned len)
int
PX4IO::io_set_arming_state()
{
actuator_safety_s safety; ///< system armed state
actuator_armed_s armed; ///< system armed state
vehicle_status_s vstatus; ///< overall system state
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety);
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus);
uint16_t set = 0;
uint16_t clear = 0;
if (safety.armed && !safety.lockdown) {
if (armed.armed && !armed.lockdown) {
set |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
} else {
clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED;
}
if (safety.ready_to_arm) {
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
@@ -1004,10 +1005,10 @@ PX4IO::io_handle_status(uint16_t status)
/**
* Get and handle the safety status
*/
struct actuator_safety_s safety;
struct safety_s safety;
safety.timestamp = hrt_absolute_time();
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety);
orb_copy(ORB_ID(safety), _to_safety, &safety);
if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
safety.safety_off = true;
@@ -1019,9 +1020,9 @@ PX4IO::io_handle_status(uint16_t status)
/* lazily publish the safety status */
if (_to_safety > 0) {
orb_publish(ORB_ID(actuator_safety), _to_safety, &safety);
orb_publish(ORB_ID(safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(actuator_safety), &safety);
_to_safety = orb_advertise(ORB_ID(safety), &safety);
}
return ret;