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Introduced new actuator_safety topic

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This commit is contained in:
Julian Oes
2013-06-14 13:53:26 +02:00
parent 236053a600
commit 90f5e30f2a
22 changed files with 424 additions and 193 deletions
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src/drivers/hil/hil.cpp
+9 -8
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@@ -75,6 +75,7 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/actuator_outputs.h>
#include <systemlib/err.h>
@@ -108,7 +109,7 @@ private:
int _current_update_rate;
int _task;
int _t_actuators;
int _t_armed;
int _t_safety;
orb_advert_t _t_outputs;
unsigned _num_outputs;
bool _primary_pwm_device;
@@ -161,7 +162,7 @@ HIL::HIL() :
_current_update_rate(0),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
_t_safety(-1),
_t_outputs(0),
_num_outputs(0),
_primary_pwm_device(false),
@@ -321,8 +322,8 @@ HIL::task_main()
/* force a reset of the update rate */
_current_update_rate = 0;
_t_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_armed, 200); /* 5Hz update rate */
_t_safety = orb_subscribe(ORB_ID(actuator_safety));
orb_set_interval(_t_safety, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
@@ -334,7 +335,7 @@ HIL::task_main()
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
fds[1].fd = _t_safety;
fds[1].events = POLLIN;
unsigned num_outputs;
@@ -426,15 +427,15 @@ HIL::task_main()
/* how about an arming update? */
if (fds[1].revents & POLLIN) {
actuator_armed_s aa;
actuator_safety_s aa;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
orb_copy(ORB_ID(actuator_safety), _t_safety, &aa);
}
}
::close(_t_actuators);
::close(_t_armed);
::close(_t_safety);
/* make sure servos are off */
// up_pwm_servo_deinit();