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Merge remote-tracking branch 'px4/new_state_machine_drton' into fmuv2_bringup_new_state_machine_drton

Browse Source 
Conflicts:
	src/drivers/blinkm/blinkm.cpp
	src/drivers/px4io/px4io.cpp
	src/modules/commander/state_machine_helper.c
	src/modules/px4iofirmware/protocol.h
	src/modules/px4iofirmware/registers.c
	src/modules/systemlib/systemlib.h
	src/systemcmds/reboot/reboot.c
This commit is contained in:
Julian Oes
2013-08-15 14:04:46 +02:00
parent 50cf1c01b7 561ec495b7
commit 56575eb068
86 changed files with 5851 additions and 3938 deletions
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src/modules/gpio_led/gpio_led.c
+11 -4
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@@ -51,6 +51,7 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
#include <modules/px4iofirmware/protocol.h>
@@ -62,6 +63,8 @@ struct gpio_led_s {
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
struct actuator_armed_s armed;
int actuator_armed_sub;
bool led_state;
int counter;
};
@@ -227,10 +230,15 @@ void gpio_led_cycle(FAR void *arg)
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed);
/* select pattern for current status */
int pattern = 0;
if (priv->status.flag_system_armed) {
if (priv->armed.armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
@@ -239,11 +247,10 @@ void gpio_led_cycle(FAR void *arg)
}
} else {
if (priv->status.state_machine == SYSTEM_STATE_PREFLIGHT) {
if (priv->armed.ready_to_arm) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.state_machine == SYSTEM_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
} else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {