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refactor vehicle_status_flags: rename to failsafe_flags

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This commit is contained in:
Beat Küng
2022-10-13 16:05:25 -04:00
committed by Daniel Agar
parent f9c8e760b1
commit d542ffc10c
34 changed files with 125 additions and 126 deletions
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src/modules/events/rc_loss_alarm.cpp
+4 -4
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@@ -58,9 +58,9 @@ void RC_Loss_Alarm::process()
return;
}
vehicle_status_flags_s status_flags{};
failsafe_flags_s failsafe_flags{};
_vehicle_status_flags_sub.copy(&status_flags);
_failsafe_flags_sub.copy(&failsafe_flags);
if (!_was_armed &&
status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
@@ -68,12 +68,12 @@ void RC_Loss_Alarm::process()
_was_armed = true; // Once true, impossible to go back to false
}
if (!_had_manual_control && !status_flags.manual_control_signal_lost) {
if (!_had_manual_control && !failsafe_flags.manual_control_signal_lost) {
_had_manual_control = true;
}
if (_was_armed && _had_manual_control && status_flags.manual_control_signal_lost &&
if (_was_armed && _had_manual_control && failsafe_flags.manual_control_signal_lost &&
status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
play_tune();
_alarm_playing = true;
src/modules/events/rc_loss_alarm.h
+2 -2
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@@ -42,7 +42,7 @@
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/failsafe_flags.h>
#include <uORB/topics/tune_control.h>
namespace events
@@ -68,7 +68,7 @@ private:
uORB::Publication<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
uORB::Subscription _failsafe_flags_sub{ORB_ID(failsafe_flags)};
bool _was_armed = false;
bool _had_manual_control = false; // Don't trigger alarm for systems without RC
src/modules/events/set_leds.cpp
+2 -2
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@@ -54,8 +54,8 @@ namespace status
void StatusDisplay::set_leds()
{
bool gps_lock_valid = !_vehicle_status_flags_sub.get().global_position_invalid;
bool home_position_valid = !_vehicle_status_flags_sub.get().home_position_invalid;
bool gps_lock_valid = !_failsafe_flags_sub.get().global_position_invalid;
bool home_position_valid = !_failsafe_flags_sub.get().home_position_invalid;
int nav_state = _vehicle_status_sub.get().nav_state;
#if defined(BOARD_FRONT_LED_MASK)
src/modules/events/status_display.cpp
+1 -1
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@@ -73,7 +73,7 @@ bool StatusDisplay::check_for_updates()
got_updates = true;
}
if (_vehicle_status_flags_sub.update()) {
if (_failsafe_flags_sub.update()) {
got_updates = true;
}
src/modules/events/status_display.h
+2 -2
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@@ -48,7 +48,7 @@
#include <uORB/topics/cpuload.h>
#include <uORB/topics/led_control.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
#include <uORB/topics/failsafe_flags.h>
namespace events
{
@@ -82,7 +82,7 @@ protected:
uORB::SubscriptionData<battery_status_s> _battery_status_sub{ORB_ID(battery_status)};
uORB::SubscriptionData<cpuload_s> _cpu_load_sub{ORB_ID(cpuload)};
uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::SubscriptionData<vehicle_status_flags_s> _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
uORB::SubscriptionData<failsafe_flags_s> _failsafe_flags_sub{ORB_ID(failsafe_flags)};
led_control_s _led_control{};