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vehicle_status_flags: cleanup message, move non-failsafe flags to vehicle_status

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This commit is contained in:
Beat Küng
2022-10-11 22:31:20 -04:00
committed by Daniel Agar
parent ae6377dfa0
commit e4bb219d10
30 changed files with 325 additions and 259 deletions
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src/modules/events/rc_loss_alarm.cpp
+6 -2
View File
@@ -58,18 +58,22 @@ void RC_Loss_Alarm::process()
return;
}
vehicle_status_flags_s status_flags{};
_vehicle_status_flags_sub.copy(&status_flags);
if (!_was_armed &&
status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
_was_armed = true; // Once true, impossible to go back to false
}
if (!_had_rc && !status.rc_signal_lost) {
if (!_had_rc && !status_flags.rc_signal_lost) {
_had_rc = true;
}
if (_was_armed && _had_rc && status.rc_signal_lost &&
if (_was_armed && _had_rc && status_flags.rc_signal_lost &&
status.arming_state != vehicle_status_s::ARMING_STATE_ARMED) {
play_tune();
_alarm_playing = true;
src/modules/events/rc_loss_alarm.h
+2
View File
@@ -42,6 +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/tune_control.h>
namespace events
@@ -67,6 +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)};
bool _was_armed = false;
bool _had_rc = false; // Don't trigger alarm for systems without RC
src/modules/events/set_leds.cpp
+2 -2
View File
@@ -54,8 +54,8 @@ namespace status
void StatusDisplay::set_leds()
{
bool gps_lock_valid = _vehicle_status_flags_sub.get().global_position_valid;
bool home_position_valid = _vehicle_status_flags_sub.get().home_position_valid;
bool gps_lock_valid = !_vehicle_status_flags_sub.get().global_position_invalid;
bool home_position_valid = !_vehicle_status_flags_sub.get().home_position_invalid;
int nav_state = _vehicle_status_sub.get().nav_state;
#if defined(BOARD_FRONT_LED_MASK)