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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/examples/flow_position_control/flow_position_control_main.c
+5 -5
View File
@@ -55,7 +55,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -159,7 +159,7 @@ flow_position_control_thread_main(int argc, char *argv[])
const float time_scale = powf(10.0f,-6.0f);
/* structures */
struct actuator_safety_s safety;
struct actuator_armed_s armed;
struct vehicle_control_mode_s control_mode;
struct vehicle_attitude_s att;
struct manual_control_setpoint_s manual;
@@ -171,7 +171,7 @@ flow_position_control_thread_main(int argc, char *argv[])
/* subscribe to attitude, motor setpoints and system state */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
@@ -261,7 +261,7 @@ flow_position_control_thread_main(int argc, char *argv[])
perf_begin(mc_loop_perf);
/* get a local copy of the vehicle state */
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* get a local copy of manual setpoint */
orb_copy(ORB_ID(manual_control_setpoint), manual_control_setpoint_sub, &manual);
/* get a local copy of attitude */
@@ -578,7 +578,7 @@ flow_position_control_thread_main(int argc, char *argv[])
close(parameter_update_sub);
close(vehicle_attitude_sub);
close(vehicle_local_position_sub);
close(safety_sub);
close(armed_sub);
close(control_mode_sub);
close(manual_control_setpoint_sub);
close(speed_sp_pub);
src/examples/flow_position_estimator/flow_position_estimator_main.c
+10 -10
View File
@@ -56,7 +56,7 @@
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -159,8 +159,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
static float sonar_lp = 0.0f;
/* subscribe to vehicle status, attitude, sensors and flow*/
struct actuator_safety_s safety;
memset(&safety, 0, sizeof(safety));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct vehicle_attitude_s att;
@@ -173,8 +173,8 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
/* subscribe to parameter changes */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
/* subscribe to safety topic */
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
/* subscribe to armed topic */
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
/* subscribe to safety topic */
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -270,7 +270,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
/* got flow, updating attitude and status as well */
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
orb_copy(ORB_ID(vehicle_attitude_setpoint), vehicle_attitude_setpoint_sub, &att_sp);
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
/* vehicle state estimation */
@@ -284,12 +284,12 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
if (!vehicle_liftoff)
{
if (safety.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f)
if (armed.armed && att_sp.thrust > params.minimum_liftoff_thrust && sonar_new > 0.3f && sonar_new < 1.0f)
vehicle_liftoff = true;
}
else
{
if (!safety.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f))
if (!armed.armed || (att_sp.thrust < params.minimum_liftoff_thrust && sonar_new <= 0.3f))
vehicle_liftoff = false;
}
@@ -356,7 +356,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
}
/* filtering ground distance */
if (!vehicle_liftoff || !safety.armed)
if (!vehicle_liftoff || !armed.armed)
{
/* not possible to fly */
sonar_valid = false;
@@ -453,7 +453,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
close(vehicle_attitude_setpoint_sub);
close(vehicle_attitude_sub);
close(safety_sub);
close(armed_sub);
close(control_mode_sub);
close(parameter_update_sub);
close(optical_flow_sub);
src/examples/flow_speed_control/flow_speed_control_main.c
+6 -6
View File
@@ -55,7 +55,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
@@ -156,7 +156,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
uint32_t counter = 0;
/* structures */
struct actuator_safety_s safety;
struct actuator_armed_s armed;
struct vehicle_control_mode_s control_mode;
struct filtered_bottom_flow_s filtered_flow;
struct vehicle_bodyframe_speed_setpoint_s speed_sp;
@@ -166,7 +166,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
/* subscribe to attitude, motor setpoints and system state */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int filtered_bottom_flow_sub = orb_subscribe(ORB_ID(filtered_bottom_flow));
int vehicle_bodyframe_speed_setpoint_sub = orb_subscribe(ORB_ID(vehicle_bodyframe_speed_setpoint));
@@ -229,8 +229,8 @@ flow_speed_control_thread_main(int argc, char *argv[])
{
perf_begin(mc_loop_perf);
/* get a local copy of the safety topic */
orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
/* get a local copy of the armed topic */
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* get a local copy of the control mode */
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
/* get a local copy of filtered bottom flow */
@@ -355,7 +355,7 @@ flow_speed_control_thread_main(int argc, char *argv[])
close(vehicle_attitude_sub);
close(vehicle_bodyframe_speed_setpoint_sub);
close(filtered_bottom_flow_sub);
close(safety_sub);
close(armed_sub);
close(control_mode_sub);
close(att_sp_pub);