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Use separate arm_request instead of vehicle_command for RC arming

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent c4473bdab7
commit af607e3040
7 changed files with 78 additions and 92 deletions
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src/modules/commander/Commander.hpp
+2
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@@ -61,6 +61,7 @@
#include <uORB/SubscriptionMultiArray.hpp>
#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>
@@ -389,6 +390,7 @@ private:
// Subscriptions
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)};