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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/flight_mode_manager/tasks/Utility/Sticks.cpp
+3 -3
View File
@@ -72,10 +72,10 @@ bool Sticks::checkAndUpdateStickInputs()
_input_available = valid_sticks;
} else {
vehicle_status_s vehicle_status;
vehicle_status_flags_s vehicle_status_flags;
if (_vehicle_status_sub.update(&vehicle_status)) {
if (vehicle_status.rc_signal_lost) {
if (_vehicle_status_flags_sub.update(&vehicle_status_flags)) {
if (vehicle_status_flags.rc_signal_lost) {
_input_available = false;
}
}
src/modules/flight_mode_manager/tasks/Utility/Sticks.hpp
+2 -2
View File
@@ -45,7 +45,7 @@
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
class Sticks : public ModuleParams
{
@@ -92,7 +92,7 @@ private:
matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,