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Use arm_request for manual killing

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This commit is contained in:
Matthias Grob
2021-11-09 16:05:25 +01:00
parent af607e3040
commit f8e4846851
5 changed files with 39 additions and 19 deletions
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src/modules/manual_control/ManualControl.cpp
+3 -16
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@@ -165,7 +165,7 @@ void ManualControl::Run()
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (!previous_button_hysteresis && _button_hysteresis.get_state()) {
sendArmRequest(arm_request_s::ACTION_TOGGLE, arm_request_s::SOURCE_RC_BUTTON);
sendArmRequest(arm_request_s::ACTION_TOGGLE_ARMING, arm_request_s::SOURCE_RC_BUTTON);
}
} else {
@@ -209,10 +209,10 @@ void ManualControl::Run()
if (switches.kill_switch != _previous_switches.kill_switch) {
if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_termination_command(true);
sendArmRequest(arm_request_s::ACTION_KILL, arm_request_s::SOURCE_RC_SWITCH);
} else if (switches.kill_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_termination_command(false);
sendArmRequest(arm_request_s::ACTION_UNKILL, arm_request_s::SOURCE_RC_SWITCH);
}
}
@@ -469,19 +469,6 @@ void ManualControl::send_offboard_command()
command_pub.publish(command);
}
void ManualControl::send_termination_command(bool should_terminate)
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
command.param1 = should_terminate ? 1.0f : 0.0f;
command.target_system = _param_mav_sys_id.get();
command.target_component = _param_mav_comp_id.get();
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
}
void ManualControl::publish_landing_gear(int8_t action)
{
landing_gear_s landing_gear{};
src/modules/manual_control/ManualControl.hpp
-1
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@@ -125,7 +125,6 @@ private:
void send_rtl_command();
void send_loiter_command();
void send_offboard_command();
void send_termination_command(bool should_terminate);
void publish_landing_gear(int8_t action);
void send_vtol_transition_command(uint8_t action);