fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 20:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed location of lots of flags and conditions, needs testing and more work

Browse Source
This commit is contained in:
Julian Oes
2013-07-16 18:56:31 +02:00
parent 6e44a486c1
commit bcdedd9a35
16 changed files with 149 additions and 164 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/blinkm/blinkm.cpp
+1 -1
View File
@@ -536,7 +536,7 @@ BlinkM::led()
/* looking for lipo cells that are connected */
printf("<blinkm> checking cells\n");
for(num_of_cells = 2; num_of_cells < 7; num_of_cells++) {
if(vehicle_status_raw.voltage_battery < num_of_cells * MAX_CELL_VOLTAGE) break;
if(vehicle_status_raw.battery_voltage < num_of_cells * MAX_CELL_VOLTAGE) break;
}
printf("<blinkm> cells found:%d\n", num_of_cells);
src/drivers/px4io/px4io.cpp
+9 -9
View File
@@ -77,7 +77,7 @@
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/battery_status.h>
@@ -180,7 +180,7 @@ private:
/* subscribed topics */
int _t_actuators; ///< actuator controls topic
int _t_actuator_armed; ///< system armed control topic
int _t_vstatus; ///< system / vehicle status
int _t_vehicle_control_mode; ///< vehicle control mode topic
int _t_param; ///< parameter update topic
/* advertised topics */
@@ -362,7 +362,7 @@ PX4IO::PX4IO() :
_alarms(0),
_t_actuators(-1),
_t_actuator_armed(-1),
_t_vstatus(-1),
_t_vehicle_control_mode(-1),
_t_param(-1),
_to_input_rc(0),
_to_actuators_effective(0),
@@ -647,8 +647,8 @@ PX4IO::task_main()
_t_actuator_armed = orb_subscribe(ORB_ID(actuator_armed));
orb_set_interval(_t_actuator_armed, 200); /* 5Hz update rate */
_t_vstatus = orb_subscribe(ORB_ID(vehicle_status));
orb_set_interval(_t_vstatus, 200); /* 5Hz update rate max. */
_t_vehicle_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode));
orb_set_interval(_t_vehicle_control_mode, 200); /* 5Hz update rate max. */
_t_param = orb_subscribe(ORB_ID(parameter_update));
orb_set_interval(_t_param, 500); /* 2Hz update rate max. */
@@ -659,7 +659,7 @@ PX4IO::task_main()
fds[0].events = POLLIN;
fds[1].fd = _t_actuator_armed;
fds[1].events = POLLIN;
fds[2].fd = _t_vstatus;
fds[2].fd = _t_vehicle_control_mode;
fds[2].events = POLLIN;
fds[3].fd = _t_param;
fds[3].events = POLLIN;
@@ -834,10 +834,10 @@ int
PX4IO::io_set_arming_state()
{
actuator_armed_s armed; ///< system armed state
vehicle_status_s vstatus; ///< overall system state
vehicle_control_mode_s control_mode; ///< vehicle_control_mode
orb_copy(ORB_ID(actuator_armed), _t_actuator_armed, &armed);
orb_copy(ORB_ID(vehicle_status), _t_vstatus, &vstatus);
orb_copy(ORB_ID(vehicle_control_mode), _t_vehicle_control_mode, &control_mode);
uint16_t set = 0;
uint16_t clear = 0;
@@ -853,7 +853,7 @@ PX4IO::io_set_arming_state()
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
if (vstatus.flag_external_manual_override_ok) {
if (control_mode.flag_external_manual_override_ok) {
set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK;