Changed to publishing armed state in commander

apps/commander/state_machine_helper.c

@@ -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) {

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -117,7 +117,6 @@ mc_thread_main(int argc, char *argv[])
 		actuators.control[i] = 0.0f;
 	orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators);
 	armed.armed = false;
-	orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
 	orb_advert_t att_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &att_sp);
 
 	/* register the perf counter */
@@ -151,25 +150,13 @@ mc_thread_main(int argc, char *argv[])
 			att_sp.yaw_body = 0.0f;
 			att_sp.thrust = 0.1f;
 		} else {
-			if (state.flag_system_armed) {
+			att_sp.thrust = manual.throttle;
-				att_sp.thrust = manual.throttle;
-				armed.armed = true;
-
-			} else if (state.state_machine == SYSTEM_STATE_EMCY_CUTOFF) {
-				/* immediately cut off motors */
-				armed.armed = false;
-
-			} else {
-				/* limit motor throttle to zero for an unknown mode */
-				armed.armed = false;
-			}
 			
 		}
 
-		multirotor_control_attitude(&att_sp, &att, &state, &actuators, motor_test_mode);
+		multirotor_control_attitude(&att_sp, &att, &actuators);
 
 		/* publish the result */
-		orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 		orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
 		orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
 
@@ -179,8 +166,6 @@ mc_thread_main(int argc, char *argv[])
 	printf("[multirotor att control] stopping, disarming motors.\n");
 
 	/* kill all outputs */
-	armed.armed = false;
-	orb_publish(ORB_ID(actuator_armed), armed_pub, &armed);
 	for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++)
 		actuators.control[i] = 0.0f;
 	orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
@@ -190,7 +175,6 @@ mc_thread_main(int argc, char *argv[])
 	close(state_sub);
 	close(manual_sub);
 	close(actuator_pub);
-	close(armed_pub);
 	close(att_sp_pub);
 
 	perf_print_counter(mc_loop_perf);

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -188,8 +188,7 @@ static int parameters_update(const struct mc_att_control_param_handles *h, struc
 }
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp,
-	const struct vehicle_attitude_s *att, const struct vehicle_status_s *status,
+	const struct vehicle_attitude_s *att, struct actuator_controls_s *actuators)
-	struct actuator_controls_s *actuators, bool verbose)
 {
 	static uint64_t last_run = 0;
 	const float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;

apps/multirotor_att_control/multirotor_attitude_control.h

@@ -54,8 +54,6 @@
 #include <uORB/topics/actuator_controls.h>
 
 void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
-		const struct vehicle_status_s *status, struct actuator_controls_s *actuators, bool verbose);
+	struct actuator_controls_s *actuators);
-
-void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls_s *actuators, bool verbose);
 
 #endif /* MULTIROTOR_ATTITUDE_CONTROL_H_ */