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Controllers should not access state machine anymore but access the vehicle_control_mode flags

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This commit is contained in:
Julian Oes
2013-06-15 19:41:54 +02:00
parent e556649f2f
commit 9f5565de32
12 changed files with 180 additions and 166 deletions
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src/modules/mavlink_onboard/mavlink.c
+7 -5
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@@ -274,18 +274,18 @@ void mavlink_update_system(void)
}
void
get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct actuator_safety_s *safety,
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
/* reset MAVLink mode bitfield */
*mavlink_mode = 0;
/* set mode flags independent of system state */
if (v_status->flag_control_manual_enabled) {
if (control_mode->flag_control_manual_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
}
if (v_status->flag_hil_enabled) {
if (safety->hil_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
}
@@ -296,7 +296,7 @@ get_mavlink_mode_and_state(const struct vehicle_status_s *v_status, const struct
*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
}
if (v_status->flag_control_velocity_enabled) {
if (control_mode->flag_control_velocity_enabled) {
*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
} else {
*mavlink_mode &= ~MAV_MODE_FLAG_GUIDED_ENABLED;
@@ -368,7 +368,9 @@ int mavlink_thread_main(int argc, char *argv[])
char *device_name = "/dev/ttyS1";
baudrate = 57600;
/* XXX this is never written? */
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
struct actuator_safety_s safety;
/* work around some stupidity in task_create's argv handling */
@@ -437,7 +439,7 @@ 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, &safety, &mavlink_state, &mavlink_mode);
get_mavlink_mode_and_state(&control_mode, &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
+1
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@@ -52,6 +52,7 @@
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
src/modules/mavlink_onboard/util.h
+2 -1
View File
@@ -50,5 +50,6 @@ 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_safety_s *safety,
extern void
get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
uint8_t *mavlink_state, uint8_t *mavlink_mode);