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Changed to publishing armed state in commander

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Lorenz Meier
2012-09-02 11:33:52 +02:00
parent e9373752d1
commit cae070c73e
4 changed files with 9 additions and 23 deletions
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apps/commander/state_machine_helper.c
+5
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@@ -43,6 +43,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include <arch/board/up_hrt.h>
#include <mavlink/mavlink_log.h>
@@ -198,6 +199,10 @@ int do_state_update(int status_pub, struct vehicle_status_s *current_status, con
if (invalid_state == false || old_state != new_state) {
current_status->state_machine = new_state;
state_machine_publish(status_pub, current_status, mavlink_fd);
struct actuator_armed_s armed;
armed.armed = current_status->flag_system_armed;
orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
ret = OK;
}
if (invalid_state) {