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Introduced new actuator_safety topic

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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/modules/gpio_led/gpio_led.c
+11 -5
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@@ -51,6 +51,7 @@
#include <systemlib/err.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_safety.h>
#include <poll.h>
#include <drivers/drv_gpio.h>
@@ -60,6 +61,8 @@ struct gpio_led_s {
int pin;
struct vehicle_status_s status;
int vehicle_status_sub;
struct actuator_safety_s safety;
int actuator_safety_sub;
bool led_state;
int counter;
};
@@ -168,11 +171,15 @@ void gpio_led_cycle(FAR void *arg)
if (status_updated)
orb_copy(ORB_ID(vehicle_status), priv->vehicle_status_sub, &priv->status);
orb_check(priv->vehicle_status_sub, &status_updated);
if (status_updated)
orb_copy(ORB_ID(actuator_safety), priv->actuator_safety_sub, &priv->safety);
/* select pattern for current status */
int pattern = 0;
/* XXX fmu armed correct? */
if (priv->status.flag_fmu_armed) {
if (priv->safety.armed) {
if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x3f; // ****** solid (armed)
@@ -181,11 +188,10 @@ void gpio_led_cycle(FAR void *arg)
}
} else {
if (priv->status.arming_state == ARMING_STATE_STANDBY) {
if (priv->safety.ready_to_arm) {
pattern = 0x00; // ______ off (disarmed, preflight check)
} else if (priv->status.arming_state == ARMING_STATE_STANDBY &&
priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
} else if (priv->safety.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
pattern = 0x38; // ***___ slow blink (disarmed, ready)
} else {