Renamed actuator_safety back to actuator_armed, compiling but untested

src/modules/uORB/objects_common.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -77,6 +77,9 @@ ORB_DEFINE(home_position, struct home_position_s);
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 
+#include "topics/safety.h"
+ORB_DEFINE(safety, struct safety_s);
+
 #include "topics/battery_status.h"
 ORB_DEFINE(battery_status, struct battery_status_s);
 
@@ -153,8 +156,8 @@ ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 
-#include "topics/actuator_safety.h"
-ORB_DEFINE(actuator_safety, struct actuator_safety_s);
+#include "topics/actuator_armed.h"
+ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
 /* actuator controls, as set by actuators / mixers after limiting */
 #include "topics/actuator_controls_effective.h"

src/modules/uORB/topics/actuator_armed.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,35 +32,27 @@
  ****************************************************************************/
 
 /**
- * @file actuator_controls.h
+ * @file actuator_armed.h
  *
- * Actuator control topics - mixer inputs.
+ * Actuator armed topic
  *
- * Values published to these topics are the outputs of the vehicle control
- * system, and are expected to be mixed and used to drive the actuators
- * (servos, speed controls, etc.) that operate the vehicle.
- *
- * Each topic can be published by a single controller
  */
 
-#ifndef TOPIC_ACTUATOR_SAFETY_H
-#define TOPIC_ACTUATOR_SAFETY_H
+#ifndef TOPIC_ACTUATOR_ARMED_H
+#define TOPIC_ACTUATOR_ARMED_H
 
 #include <stdint.h>
 #include "../uORB.h"
 
 /** global 'actuator output is live' control. */
-struct actuator_safety_s {
+struct actuator_armed_s {
 
 	uint64_t	timestamp;
-	bool	safety_switch_available; /**< Set to true if a safety switch is connected */
-	bool	safety_off;	/**< Set to true if safety is off */
 	bool	armed;		/**< Set to true if system is armed */
 	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
-	bool	hil_enabled;	/**< Set to true if hardware-in-the-loop (HIL) is enabled */
 };
 
-ORB_DECLARE(actuator_safety);
+ORB_DECLARE(actuator_armed);
 
 #endif

src/modules/uORB/topics/safety.h

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file safety.h
+ *
+ * Safety topic to pass safety state from px4io driver to commander
+ * This concerns only the safety button of the px4io but has nothing to do
+ * with arming/disarming.
+ */
+
+#ifndef TOPIC_SAFETY_H
+#define TOPIC_SAFETY_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+struct safety_s {
+
+	uint64_t	timestamp;
+	bool	safety_switch_available;	/**< Set to true if a safety switch is connected */
+	bool	safety_off;			/**< Set to true if safety is off */
+};
+
+ORB_DECLARE(safety);
+
+#endif

src/modules/uORB/topics/vehicle_control_mode.h

@@ -69,9 +69,13 @@ struct vehicle_control_mode_s
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
+	// XXX needs yet to be set by state machine helper
+	bool flag_system_hil_enabled;
+
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
 	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
-	bool flag_auto_enabled;
+	// XXX shouldn't be necessairy
+	//bool flag_auto_enabled;
 	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
 	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
 	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */