fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 15:18:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

Dropped superseded safety topic, added warning tones before arming

Browse Source
This commit is contained in:
Julian Oes
2013-06-25 13:15:38 +02:00
parent 2096da2d4d
commit a6ba7e4485
5 changed files with 53 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+9 -6
View File
@@ -81,7 +81,6 @@
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/safety.h>
#include <debug.h>
#include <mavlink/mavlink_log.h>
@@ -990,20 +989,24 @@ PX4IO::io_handle_status(uint16_t status)
/**
* Get and handle the safety status
*/
struct safety_s safety;
struct actuator_safety_s safety;
safety.timestamp = hrt_absolute_time();
orb_copy(ORB_ID(actuator_safety), _t_actuator_safety, &safety);
if (status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
safety.status = SAFETY_STATUS_UNLOCKED;
safety.safety_off = true;
safety.safety_switch_available = true;
} else {
safety.status = SAFETY_STATUS_SAFE;
safety.safety_off = false;
safety.safety_switch_available = true;
}
/* lazily publish the safety status */
if (_to_safety > 0) {
orb_publish(ORB_ID(safety), _to_safety, &safety);
orb_publish(ORB_ID(actuator_safety), _to_safety, &safety);
} else {
_to_safety = orb_advertise(ORB_ID(safety), &safety);
_to_safety = orb_advertise(ORB_ID(actuator_safety), &safety);
}
return ret;