fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 00:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Use separate arm_request instead of vehicle_command for RC arming

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/manual_control/ManualControl.hpp
+3 -1
View File
@@ -40,6 +40,7 @@
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <uORB/topics/arm_request.h>
#include <uORB/topics/manual_control_input.h>
#include <uORB/topics/manual_control_switches.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -120,7 +121,7 @@ private:
void evaluate_mode_slot(uint8_t mode_slot);
void send_mode_command(int32_t commander_main_state);
void send_arm_command(int8_t action, int8_t origin);
void sendArmRequest(int8_t action, int8_t source);
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();
@@ -128,6 +129,7 @@ private:
void publish_landing_gear(int8_t action);
void send_vtol_transition_command(uint8_t action);
uORB::Publication<arm_request_s> _arm_request_pub{ORB_ID(arm_request)};
uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};