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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/mavlink/streams/HEARTBEAT.hpp
+1 -6
View File
@@ -37,7 +37,6 @@
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_status_flags.h>
class MavlinkStreamHeartbeat : public MavlinkStream
{
@@ -63,7 +62,6 @@ private:
uORB::Subscription _acturator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_status_flags_sub{ORB_ID(vehicle_status_flags)};
bool send() override
{
@@ -72,9 +70,6 @@ private:
vehicle_status_s vehicle_status{};
_vehicle_status_sub.copy(&vehicle_status);
vehicle_status_flags_s vehicle_status_flags{};
_vehicle_status_flags_sub.copy(&vehicle_status_flags);
vehicle_control_mode_s vehicle_control_mode{};
_vehicle_control_mode_sub.copy(&vehicle_control_mode);
@@ -131,7 +126,7 @@ private:
|| vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_TERMINATION) {
system_status = MAV_STATE_FLIGHT_TERMINATION;
} else if (vehicle_status_flags.calibration_enabled) {
} else if (vehicle_status.calibration_enabled) {
system_status = MAV_STATE_CALIBRATING;
}
src/modules/mavlink/streams/HIGH_LATENCY2.hpp
+6 -5
View File
@@ -429,10 +429,6 @@ private:
}
}
if (status.rc_signal_lost) {
msg->failure_flags |= HL_FAILURE_FLAG_RC_RECEIVER;
}
if (status.failure_detector_status & vehicle_status_s::FAILURE_MOTOR) {
msg->failure_flags |= HL_FAILURE_FLAG_ENGINE;
}
@@ -452,7 +448,7 @@ private:
vehicle_status_flags_s status_flags;
if (_status_flags_sub.update(&status_flags)) {
if (!status_flags.global_position_valid) { //TODO check if there is a better way to get only GPS failure
if (status_flags.gps_position_invalid) {
msg->failure_flags |= HL_FAILURE_FLAG_GPS;
}
@@ -464,6 +460,11 @@ private:
msg->failure_flags |= HL_FAILURE_FLAG_MISSION;
}
if (status_flags.rc_signal_lost) {
msg->failure_flags |= HL_FAILURE_FLAG_RC_RECEIVER;
}
return true;
}