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FlightModeManager: publish takeoff status

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This commit is contained in:
Matthias Grob
2021-01-31 11:37:00 +01:00
committed by Lorenz Meier
parent b30bd7f589
commit fbd64fbdd8
6 changed files with 34 additions and 5 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
+4
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@@ -44,7 +44,9 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/Publication.hpp>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/takeoff_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
@@ -134,6 +136,7 @@ private:
Takeoff _takeoff; ///< state machine and ramp to bring the vehicle off the ground without a jump
WeatherVane *_wv_controller{nullptr};
int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};
uint8_t _old_takeoff_state{0};
int _task_failure_count{0};
uint8_t _last_vehicle_nav_state{0};
@@ -153,6 +156,7 @@ private:
uORB::SubscriptionData<vehicle_status_s> _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
uORB::Publication<takeoff_status_s> _takeoff_status_pub{ORB_ID(takeoff_status)};
uORB::Publication<vehicle_local_position_setpoint_s> _trajectory_setpoint_pub{ORB_ID(trajectory_setpoint)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_ack_s> _vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};