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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/modules/multirotor_att_control/multirotor_att_control_main.c
+9 -9
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@@ -58,7 +58,7 @@
#include <uORB/uORB.h>
#include <drivers/drv_gyro.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -94,8 +94,8 @@ mc_thread_main(int argc, char *argv[])
/* declare and safely initialize all structs */
struct vehicle_control_mode_s control_mode;
memset(&control_mode, 0, sizeof(control_mode));
struct actuator_safety_s safety;
memset(&safety, 0, sizeof(safety));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_attitude_setpoint_s att_sp;
@@ -121,7 +121,7 @@ mc_thread_main(int argc, char *argv[])
int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -210,10 +210,10 @@ mc_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
}
orb_check(safety_sub, &updated);
orb_check(armed_sub, &updated);
if (updated) {
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 */
@@ -261,7 +261,7 @@ mc_thread_main(int argc, char *argv[])
/* initialize to current yaw if switching to manual or att control */
if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled ||
control_mode.flag_control_manual_enabled != flag_control_manual_enabled ||
safety.armed != flag_armed) {
armed.armed != flag_armed) {
att_sp.yaw_body = att.yaw;
}
@@ -275,7 +275,7 @@ mc_thread_main(int argc, char *argv[])
att_sp.pitch_body = manual.pitch;
/* set attitude if arming */
if (!flag_control_attitude_enabled && safety.armed) {
if (!flag_control_attitude_enabled && armed.armed) {
att_sp.yaw_body = att.yaw;
}
@@ -366,7 +366,7 @@ mc_thread_main(int argc, char *argv[])
flag_control_manual_enabled = control_mode.flag_control_manual_enabled;
flag_control_position_enabled = control_mode.flag_control_position_enabled;
flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled;
flag_armed = safety.armed;
flag_armed = armed.armed;
perf_end(mc_loop_perf);
} /* end of poll call for attitude updates */