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Changed commander to check every battery publication for prearm checks

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This commit is contained in:
Timothy Scott
2020-02-21 22:38:26 -08:00
committed by Lorenz Meier
parent 43a1257843
commit 6452b7e014
2 changed files with 97 additions and 58 deletions
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src/modules/commander/Commander.hpp
+7 -1
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@@ -43,6 +43,7 @@
#include <lib/mathlib/mathlib.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <containers/Array.hpp>
// publications
#include <uORB/Publication.hpp>
@@ -374,7 +375,12 @@ private:
// Subscriptions
uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
uORB::Subscription _battery_sub{ORB_ID(battery_status)};
uORB::Subscription _battery_subs[ORB_MULTI_MAX_INSTANCES] {
uORB::Subscription(ORB_ID(battery_status), 0),
uORB::Subscription(ORB_ID(battery_status), 1),
uORB::Subscription(ORB_ID(battery_status), 2),
uORB::Subscription(ORB_ID(battery_status), 3),
};
uORB::Subscription _cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};