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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/mkblctrl/mkblctrl.cpp
+10 -9
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@@ -74,6 +74,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_safety.h>
#include <systemlib/err.h>
@@ -132,7 +133,7 @@ private:
int _current_update_rate;
int _task;
int _t_actuators;
int _t_armed;
int _t_actuator_safety;
unsigned int _motor;
int _px4mode;
int _frametype;
@@ -240,7 +241,7 @@ MK::MK(int bus) :
_update_rate(50),
_task(-1),
_t_actuators(-1),
_t_armed(-1),
_t_actuator_safety(-1),
_t_outputs(0),
_t_actuators_effective(0),
_num_outputs(0),
@@ -496,8 +497,8 @@ MK::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_actuator_safety = orb_subscribe(ORB_ID(actuator_safety));
orb_set_interval(_t_actuator_safety, 200); /* 5Hz update rate */
/* advertise the mixed control outputs */
actuator_outputs_s outputs;
@@ -519,7 +520,7 @@ MK::task_main()
pollfd fds[2];
fds[0].fd = _t_actuators;
fds[0].events = POLLIN;
fds[1].fd = _t_armed;
fds[1].fd = _t_actuator_safety;
fds[1].events = POLLIN;
log("starting");
@@ -625,13 +626,13 @@ MK::task_main()
/* how about an arming update? */
if (fds[1].revents & POLLIN) {
actuator_armed_s aa;
actuator_safety_s as;
/* get new value */
orb_copy(ORB_ID(actuator_armed), _t_armed, &aa);
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &as);
/* update PWM servo armed status if armed and not locked down */
mk_servo_arm(aa.armed && !aa.lockdown);
mk_servo_arm(as.armed && !as.lockdown);
}
@@ -639,7 +640,7 @@ MK::task_main()
::close(_t_actuators);
::close(_t_actuators_effective);
::close(_t_armed);
::close(_t_actuator_safety);
/* make sure servos are off */