fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 17:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Renamed actuator_safety back to actuator_armed, compiling but untested

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink_onboard/mavlink.c
+5 -5
View File
@@ -273,7 +273,7 @@ void mavlink_update_system(void)
}
void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
/* reset MAVLink mode bitfield */
@@ -284,12 +284,12 @@ get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, co
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (safety->hil_enabled) {
if (control_mode->flag_system_hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
/* set arming state */
if (safety->armed) {
if (armed->armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
@@ -370,7 +370,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* XXX this is never written? */
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
struct actuator_safety_s safety;
struct actuator_armed_s armed;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
@@ -438,7 +438,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&control_mode, &safety, &mavlink_state, &mavlink_mode);
get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
src/modules/mavlink_onboard/orb_topics.h
+1 -1
View File
@@ -56,7 +56,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_rc_input.h>
src/modules/mavlink_onboard/util.h
+1 -1
View File
@@ -51,5 +51,5 @@ extern volatile bool thread_should_exit;
* Translate the custom state into standard mavlink modes and state.
*/
extern void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
uint8_t *mavlink_state, uint8_t *mavlink_mode);