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Fix landing gear processing

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This commit is contained in:
Matthias Grob
2021-10-22 14:55:04 +02:00
parent 0a02d8e774
commit 820ba07d4b
3 changed files with 11 additions and 15 deletions
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src/modules/manual_control/ManualControl.cpp
+4 -11
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@@ -32,12 +32,6 @@
****************************************************************************/
#include "ManualControl.hpp"
#include <drivers/drv_hrt.h>
#include <commander/px4_custom_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/topics/commander_state.h>
namespace manual_control
@@ -201,10 +195,10 @@ void ManualControl::Run()
&& _previous_switches.gear_switch != manual_control_switches_s::SWITCH_POS_NONE) {
if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
publish_landing_gear(landing_gear_s::GEAR_UP);
publishLandingGear(landing_gear_s::GEAR_UP);
} else if (switches.gear_switch == manual_control_switches_s::SWITCH_POS_OFF) {
publish_landing_gear(landing_gear_s::GEAR_DOWN);
publishLandingGear(landing_gear_s::GEAR_DOWN);
}
}
@@ -335,13 +329,12 @@ void ManualControl::sendActionRequest(int8_t action, int8_t source, int8_t mode)
_action_request_pub.publish(action_request);
}
void ManualControl::publish_landing_gear(int8_t action)
void ManualControl::publishLandingGear(int8_t action)
{
landing_gear_s landing_gear{};
landing_gear.landing_gear = action;
landing_gear.timestamp = hrt_absolute_time();
uORB::Publication<landing_gear_s> landing_gear_pub{ORB_ID(landing_gear)};
landing_gear_pub.publish(landing_gear);
_landing_gear_pub.publish(landing_gear);
}
int ManualControl::task_spawn(int argc, char *argv[])