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commander: move ownership of vehicle_status_flags_s to HealthAndArmingChecks

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent cf2eb69d25
commit 6fda555cba
8 changed files with 42 additions and 28 deletions
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src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.hpp
+7 -1
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@@ -38,6 +38,7 @@
#include <px4_platform_common/module_params.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/health_report.h>
#include <uORB/topics/vehicle_status_flags.h>
#include "checks/accelerometerCheck.hpp"
#include "checks/airspeedCheck.hpp"
@@ -71,7 +72,7 @@
class HealthAndArmingChecks : public ModuleParams
{
public:
HealthAndArmingChecks(ModuleParams *parent, vehicle_status_flags_s &status_flags, vehicle_status_s &status);
HealthAndArmingChecks(ModuleParams *parent, vehicle_status_s &status);
~HealthAndArmingChecks() = default;
/**
@@ -97,6 +98,8 @@ public:
*/
bool modePreventsArming(uint8_t nav_state) const { return _reporter.modePreventsArming(nav_state); }
const vehicle_status_flags_s &failsafeFlags() const { return _failsafe_flags; }
protected:
void updateParams() override;
private:
@@ -104,7 +107,10 @@ private:
Report _reporter;
orb_advert_t _mavlink_log_pub{nullptr};
vehicle_status_flags_s _failsafe_flags{};
uORB::Publication<health_report_s> _health_report_pub{ORB_ID(health_report)};
uORB::Publication<vehicle_status_flags_s> _failsafe_flags_pub{ORB_ID(vehicle_status_flags)};
// all checks
AccelerometerChecks _accelerometer_checks;