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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/modules/mavlink/orb_listener.c
+9 -9
View File
@@ -71,7 +71,7 @@ struct vehicle_local_position_s local_pos;
struct vehicle_status_s v_status;
struct rc_channels_s rc;
struct rc_input_values rc_raw;
struct actuator_armed_s armed;
struct actuator_safety_s safety;
struct mavlink_subscriptions mavlink_subs;
@@ -109,7 +109,7 @@ static void l_global_position_setpoint(const struct listener *l);
static void l_local_position_setpoint(const struct listener *l);
static void l_attitude_setpoint(const struct listener *l);
static void l_actuator_outputs(const struct listener *l);
static void l_actuator_armed(const struct listener *l);
static void l_actuator_safety(const struct listener *l);
static void l_manual_control_setpoint(const struct listener *l);
static void l_vehicle_attitude_controls(const struct listener *l);
static void l_debug_key_value(const struct listener *l);
@@ -133,7 +133,7 @@ static const struct listener listeners[] = {
{l_actuator_outputs, &mavlink_subs.act_1_sub, 1},
{l_actuator_outputs, &mavlink_subs.act_2_sub, 2},
{l_actuator_outputs, &mavlink_subs.act_3_sub, 3},
{l_actuator_armed, &mavlink_subs.armed_sub, 0},
{l_actuator_safety, &mavlink_subs.safety_sub, 0},
{l_manual_control_setpoint, &mavlink_subs.man_control_sp_sub, 0},
{l_vehicle_attitude_controls, &mavlink_subs.actuators_sub, 0},
{l_debug_key_value, &mavlink_subs.debug_key_value, 0},
@@ -269,7 +269,7 @@ l_vehicle_status(const struct listener *l)
{
/* immediately communicate state changes back to user */
orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
/* enable or disable HIL */
set_hil_on_off(v_status.flag_hil_enabled);
@@ -466,7 +466,7 @@ l_actuator_outputs(const struct listener *l)
act_outputs.output[7]);
/* only send in HIL mode */
if (mavlink_hil_enabled && armed.armed) {
if (mavlink_hil_enabled && safety.armed) {
/* translate the current syste state to mavlink state and mode */
uint8_t mavlink_state = 0;
@@ -538,9 +538,9 @@ l_actuator_outputs(const struct listener *l)
}
void
l_actuator_armed(const struct listener *l)
l_actuator_safety(const struct listener *l)
{
orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
}
void
@@ -745,8 +745,8 @@ uorb_receive_start(void)
orb_set_interval(mavlink_subs.act_3_sub, 100); /* 10Hz updates */
/* --- ACTUATOR ARMED VALUE --- */
mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(mavlink_subs.armed_sub, 100); /* 10Hz updates */
mavlink_subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
orb_set_interval(mavlink_subs.safety_sub, 100); /* 10Hz updates */
/* --- MAPPED MANUAL CONTROL INPUTS --- */
mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
src/modules/mavlink/orb_topics.h
+2 -1
View File
@@ -58,6 +58,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_safety.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_rc_input.h>
@@ -72,7 +73,7 @@ struct mavlink_subscriptions {
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int armed_sub;
int safety_sub;
int actuators_sub;
int local_pos_sub;
int spa_sub;