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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/gyro_calibration/GyroCalibration.cpp
+6 -12
View File
@@ -86,6 +86,12 @@ void GyroCalibration::Run()
Reset();
return;
}
if (_system_calibrating != vehicle_status.calibration_enabled) {
_system_calibrating = vehicle_status.calibration_enabled;
Reset();
return;
}
}
}
@@ -94,18 +100,6 @@ void GyroCalibration::Run()
return;
}
if (_vehicle_status_flags_sub.updated()) {
vehicle_status_flags_s vehicle_status_flags;
if (_vehicle_status_flags_sub.copy(&vehicle_status_flags)) {
if (_system_calibrating != vehicle_status_flags.calibration_enabled) {
_system_calibrating = vehicle_status_flags.calibration_enabled;
Reset();
return;
}
}
}
if (_system_calibrating) {
// do nothing if system is calibrating
Reset();
src/modules/gyro_calibration/GyroCalibration.hpp
-2
View File
@@ -49,7 +49,6 @@
#include <uORB/topics/sensor_accel.h>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
using namespace time_literals;
@@ -87,7 +86,6 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_status_sub{ORB_ID::vehicle_status};
uORB::Subscription _vehicle_status_flags_sub{ORB_ID::vehicle_status_flags};
uORB::SubscriptionMultiArray<sensor_accel_s, MAX_SENSORS> _sensor_accel_subs{ORB_ID::sensor_accel};
uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS> _sensor_gyro_subs{ORB_ID::sensor_gyro};