fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-11 23:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Replace arm_request and mode_request with combined action_request

Browse Source 
Which saves flash space, log size and is extensible to handle e.g.
the VTOL transition and future actions.
This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent 052e29267d
commit 956997eb1e
8 changed files with 55 additions and 74 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.hpp
+2 -4
View File
@@ -59,9 +59,9 @@
// subscriptions
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionMultiArray.hpp>
#include <uORB/topics/action_request.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/arm_request.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/cpuload.h>
#include <uORB/topics/distance_sensor.h>
@@ -73,7 +73,6 @@
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/mode_request.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/power_button_state.h>
@@ -390,8 +389,8 @@ private:
WorkerThread _worker_thread;
// Subscriptions
uORB::Subscription _action_request_sub {ORB_ID(action_request)};
uORB::Subscription _actuator_controls_sub{ORB_ID_VEHICLE_ATTITUDE_CONTROLS};
uORB::Subscription _arm_request_sub {ORB_ID(arm_request)};
uORB::Subscription _cmd_sub {ORB_ID(vehicle_command)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
@@ -400,7 +399,6 @@ private:
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _mode_request_sub {ORB_ID(mode_request)};
uORB::Subscription _safety_sub{ORB_ID(safety)};
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};