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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/sdlog2/sdlog2.c
+16 -16
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@@ -60,7 +60,7 @@
#include <drivers/drv_hrt.h>
#include <uORB/uORB.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
@@ -194,7 +194,7 @@ static int file_copy(const char *file_old, const char *file_new);
static void handle_command(struct vehicle_command_s *cmd);
static void handle_status(struct actuator_safety_s *safety);
static void handle_status(struct actuator_armed_s *armed);
/**
* Create folder for current logging session. Store folder name in 'log_folder'.
@@ -628,8 +628,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct vehicle_status_s buf_status;
memset(&buf_status, 0, sizeof(buf_status));
struct actuator_safety_s buf_safety;
memset(&buf_safety, 0, sizeof(buf_safety));
struct actuator_armed_s buf_armed;
memset(&buf_armed, 0, sizeof(buf_armed));
/* warning! using union here to save memory, elements should be used separately! */
union {
@@ -659,7 +659,7 @@ int sdlog2_thread_main(int argc, char *argv[])
struct {
int cmd_sub;
int status_sub;
int safety_sub;
int armed_sub;
int sensor_sub;
int att_sub;
int att_sp_sub;
@@ -717,9 +717,9 @@ int sdlog2_thread_main(int argc, char *argv[])
fds[fdsc_count].events = POLLIN;
fdsc_count++;
/* --- SAFETY --- */
subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
fds[fdsc_count].fd = subs.safety_sub;
/* --- ACTUATOR ARMED --- */
subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
fds[fdsc_count].fd = subs.armed_sub;
fds[fdsc_count].events = POLLIN;
fdsc_count++;
@@ -896,12 +896,12 @@ int sdlog2_thread_main(int argc, char *argv[])
handled_topics++;
}
/* --- SAFETY- LOG MANAGEMENT --- */
/* --- ARMED- LOG MANAGEMENT --- */
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(actuator_safety), subs.safety_sub, &buf_safety);
orb_copy(ORB_ID(actuator_armed), subs.armed_sub, &buf_armed);
if (log_when_armed) {
handle_status(&buf_safety);
handle_status(&buf_armed);
}
handled_topics++;
@@ -912,7 +912,7 @@ int sdlog2_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
//if (log_when_armed) {
// handle_status(&buf_safety);
// handle_status(&buf_armed);
//}
//handled_topics++;
@@ -944,7 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_STAT.flight_mode = 0;
log_msg.body.log_STAT.manual_control_mode = 0;
log_msg.body.log_STAT.manual_sas_mode = 0;
log_msg.body.log_STAT.armed = (unsigned char) buf_safety.armed; /* XXX fmu armed correct? */
log_msg.body.log_STAT.armed = (unsigned char) buf_armed.armed; /* XXX fmu armed correct? */
log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery;
log_msg.body.log_STAT.battery_current = buf_status.current_battery;
log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
@@ -1348,10 +1348,10 @@ void handle_command(struct vehicle_command_s *cmd)
}
}
void handle_status(struct actuator_safety_s *safety)
void handle_status(struct actuator_armed_s *armed)
{
if (safety->armed != flag_system_armed) {
flag_system_armed = safety->armed;
if (armed->armed != flag_system_armed) {
flag_system_armed = armed->armed;
if (flag_system_armed) {
sdlog2_start_log();