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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_onboard/mavlink.c
+4 -4
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@@ -274,7 +274,7 @@ void mavlink_update_system(void)
}
void
get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed,
get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
/* reset MAVLink mode bitfield */
@@ -290,7 +290,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct
}
/* set arming state */
if (v_status->flag_fmu_armed) {
if (safety->armed) {
*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
@@ -369,7 +369,7 @@ int mavlink_thread_main(int argc, char *argv[])
baudrate = 57600;
struct vehicle_status_s v_status;
struct actuator_armed_s armed;
struct actuator_safety_s safety;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
@@ -437,7 +437,7 @@ int mavlink_thread_main(int argc, char *argv[])
/* translate the current system state to mavlink state and mode */
uint8_t mavlink_state = 0;
uint8_t mavlink_mode = 0;
get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
get_mavlink_mode_and_state(&v_status, &safety, &mavlink_state, &mavlink_mode);
/* send heartbeat */
mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
src/modules/mavlink_onboard/orb_topics.h
+2 -1
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@@ -55,6 +55,7 @@
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.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>
@@ -69,7 +70,7 @@ 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;
src/modules/mavlink_onboard/util.h
+1 -1
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@@ -50,5 +50,5 @@ extern volatile bool thread_should_exit;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_armed_s *armed,
extern void get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode);