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Dropped superseded safety topic, added warning tones before arming

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Julian Oes
2013-06-25 13:15:38 +02:00
parent 2096da2d4d
commit a6ba7e4485
5 changed files with 53 additions and 91 deletions
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src/modules/uORB/objects_common.cpp
-3
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@@ -169,6 +169,3 @@ ORB_DEFINE(actuator_outputs_3, struct actuator_outputs_s);
#include "topics/debug_key_value.h"
ORB_DEFINE(debug_key_value, struct debug_key_value_s);
/* status of the system safety device */
#include "topics/safety.h"
ORB_DEFINE(safety, struct safety_s);
src/modules/uORB/topics/actuator_safety.h
+1 -1
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@@ -53,7 +53,7 @@
struct actuator_safety_s {
uint64_t timestamp;
bool safety_switch_available; /**< Set to true if a safety switch is connected */
bool safety_off; /**< Set to true if safety is off */
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
src/modules/uORB/topics/safety.h
-60
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@@ -1,60 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file safety.h
*
* Status of an attached safety device
*/
#ifndef TOPIC_SAFETY_H
#define TOPIC_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
enum SAFETY_STATUS {
SAFETY_STATUS_NOT_PRESENT,
SAFETY_STATUS_SAFE,
SAFETY_STATUS_UNLOCKED
};
struct safety_s {
uint64_t timestamp; /**< output timestamp in us since system boot */
enum SAFETY_STATUS status;
};
/* actuator output sets; this list can be expanded as more drivers emerge */
ORB_DECLARE(safety);
#endif /* TOPIC_SAFETY_H */