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

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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
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src/modules/sensors/sensors.cpp
+16 -16
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@@ -73,7 +73,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
@@ -165,7 +165,7 @@ private:
int _baro_sub; /**< raw baro data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _diff_pres_sub; /**< raw differential pressure subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _vcontrol_mode_sub; /**< vehicle control mode subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
@@ -352,9 +352,9 @@ private:
void diff_pres_poll(struct sensor_combined_s &raw);
/**
* Check for changes in vehicle status.
* Check for changes in vehicle control mode.
*/
void vehicle_status_poll();
void vehicle_control_mode_poll();
/**
* Check for changes in parameters.
@@ -411,7 +411,7 @@ Sensors::Sensors() :
_mag_sub(-1),
_rc_sub(-1),
_baro_sub(-1),
_vstatus_sub(-1),
_vcontrol_mode_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
@@ -941,21 +941,21 @@ Sensors::diff_pres_poll(struct sensor_combined_s &raw)
}
void
Sensors::vehicle_status_poll()
Sensors::vehicle_control_mode_poll()
{
struct vehicle_status_s vstatus;
bool vstatus_updated;
struct vehicle_control_mode_s vcontrol_mode;
bool vcontrol_mode_updated;
/* Check HIL state if vehicle status has changed */
orb_check(_vstatus_sub, &vstatus_updated);
/* Check HIL state if vehicle control mode has changed */
orb_check(_vcontrol_mode_sub, &vcontrol_mode_updated);
if (vstatus_updated) {
if (vcontrol_mode_updated) {
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &vstatus);
orb_copy(ORB_ID(vehicle_control_mode), _vcontrol_mode_sub, &vcontrol_mode);
/* switching from non-HIL to HIL mode */
//printf("[sensors] Vehicle mode: %i \t AND: %i, HIL: %i\n", vstatus.mode, vstatus.mode & VEHICLE_MODE_FLAG_HIL_ENABLED, hil_enabled);
if (vstatus.flag_hil_enabled && !_hil_enabled) {
if (vcontrol_mode.flag_system_hil_enabled && !_hil_enabled) {
_hil_enabled = true;
_publishing = false;
@@ -1348,12 +1348,12 @@ Sensors::task_main()
_rc_sub = orb_subscribe(ORB_ID(input_rc));
_baro_sub = orb_subscribe(ORB_ID(sensor_baro));
_diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_vcontrol_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
orb_set_interval(_vcontrol_mode_sub, 200);
/*
* do advertisements
@@ -1406,7 +1406,7 @@ Sensors::task_main()
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
vehicle_status_poll();
vehicle_control_mode_poll();
/* check parameters for updates */
parameter_update_poll();